Pseudo-noise correlator for GPS spread-spectrum receiver

ABSTRACT

A terrestrial C/A code GPS receiver system digitally samples, filters and stores a segment of 11 half chips of the received composite as a binary number and multiplexes this number for parallel correlation with each of a series of multibit code replicas for the satellites to be tracked. Each of the time delay specific correlation products are accumulated in a cell of a memory matrix so that at least twenty two delays for each satellite may be evaluated each code period providing fast reacquisition, even within a city intersection, as well as correction of multipath tracking and multipath interference. All cells of the memory matrix may be used for an acquisition of a single satellite in about 4 ms. Two satellite tracking, in addition to altitude hold, uses cross track hold alternating with clock hold to update the cross track estimate. Single satellite tracking uses cross track and clock hold together. Navigation data is updated with detected changes in motion including turns.

RELATED APPLICATIONS

[0001] This application is a continuation of Serial No. 09/655,633,filed Sep. 5, 2000 which is a divisional of Serial No. 08/846,067, filedApr. 25, 1997, which is a continuation-in-part of Serial Nos.08/637,457, abandoned; 08/638,021, now U.S. Pat. Nos. 5,901,171;08/637,537, now U.S. Pat. Nos. 6,041,280; and 08/638,882, now U.S. Pat.No. 5,897,605, all filed Apr. 25, 1996 and claims the priority ofprovisional patent application 60/042,868 filed Mar. 28, 1997.

BACKGROUND OF THE INVENTION

[0002] 1. Field of the Invention

[0003] This invention relates in general to spread spectrum receiversand in particular to GPS navigation systems such as those used interrestrial navigation for cars, trucks and other land vehicles.

[0004] 2. Description of the Related Art

[0005] Car navigation is conventionally performed using highway andstreet maps aided, to some degree, by distance measurements fromexternal sensors such as odometers. Improvements over the last 10 yearsin Global Positioning System, or GPS, satellite navigation receivers hasspawned several GPS car navigation systems.

[0006] Conventional GPS car navigation systems use the last knownposition of the vehicle, and the destination data, to compute a routedata base, including route and turning data derived from a pre-existingmap data base. GPS receivers are conventionally operated with a minimumof 3 or 4 satellites distributed across the visible sky in order todetermine, or at least estimate, the four necessary unknowns includingx_(user), y_(user) and z_(user) which provide three orthogonalcoordinates to locate the user as well as t_(user) which provides therequired satellite time. Techniques such as time or clock hold andaltitude hold, in which the unknown time or altitude is assumed toremain predictable from a previously determined value, e.g., z_(est)and/or t _(est), have permitted operation of GPS receivers with lessthan four satellites in view. In particular, terrestrial GPS receivershave been operated with as few as two satellites to provide a twodimensional position solution using both clock and altitude hold.

[0007] Because continuous reception from four GPS satellites is oftendifficult to maintain in a car navigation environment, and known clockand altitude hold techniques can only permit operation with at least twosatellites, known conventional car navigation systems have typicallyaugmented the GPS position information with information from externalsensors to provide dead reckoning information. The dead reckoninginformation is often provided by an inertial navigation system such as agyroscope.

[0008] Augmenting GPS data with inertial navigation data has permittedthe use of GPS car navigation even when less than 4 satellites arevisible, such as in tunnels and in urban situations between tallbuildings. However, the resultant increased complexity and costs forsuch combined systems have limited their acceptance.

[0009] Conventional GPS receivers use separate tracking channels foreach satellite being tracked. Each tracking channel may be configuredfrom separate hardware components, or by time division multiplexing ofthe hardware of a single tracking channel, for use with a plurality ofsatellites. In each tracking channel, the received signals areseparately Doppler shifted to compensate for the relative motion of eachsatellite and then correlated with a locally generated, satellitespecific code.

[0010] During a mode conventionally called satellite signal acquisition,delayed versions of the locally generated code for the satellite beingacquired are correlated with the Doppler rotated received signals tosynchronize the locally generated code with the code, as received forthat satellite, by determining which delay most accurately correlateswith the code being received. Once synchronization has been achieved fora particular satellite, that satellite channel progresses to a trackingmode in which the Doppler rotated, received signal is continuouslycorrelated with the locally generated code for that satellite todetermine position information including pseudorange information. Duringtracking, conventional receivers also correlate the Doppler shiftedreceived signal with one or more versions of the locally generated codeat different relative delays, such as one half C/A code chip width earlyand late relative to the synchronized or prompt version of the code.These early and late correlations are used to accurately maintain thesynchronization of prompt correlation.

[0011] When, after tracking has begun for a particular satellite, thesatellite signal has been lost so that the required timing of thelocally generated code for synchronization is no longer accuratelyknown, conventional receivers reenter the acquisition mode, or a limitedversion of this mode, to reacquire the satellite signals by multiplecorrelations to resynchronize the locally generated code with the codeas received. Once the locally generated code has been resynchronizedwith the signals as received, position information data is again derivedfrom the signals from that satellite.

[0012] GPS systems, as well as many other radio frequency (RF)communication systems utilizing frequencies high enough to be consideredline of sight systems in which there must be a substantially direct lineof sight between the transmitter(s) and receivers(s) for optimumoperation, often suffer from multipath effects in which the receiver(s)must process signals received over a multiplicity of different paths. Acommon example is a simple broadcast TV system in which a TV receiverwith an antenna receives multiple copies of the signal beingtransmitted.

[0013] The multiplicity of signals being received results fromadditional, typically unwanted, signals paths including one or morereflections. When the signal path from the transmitter to receiverincludes a reflection, this signal path must by definition be longerthan the direct path. Multipath signals present a problem in systems,such as GPS systems, in which the time of arrival of the signal is to bemeasured or used because the time of arrival of the multipath signalsdepends on the length of the path(s) taken.

[0014] The straightforward processing of all signals, includingmultipath or reflected signals, often degrades the processing performedby the receiver. In the simple broadcast TV transmission systemdescribed above, the processing of unmodified multipath signals by thereceiver results in the commonly experienced degradation called“ghosting” in which multiple signals are displayed offset in the TVimage. The multiplicity of displayed offset video signals results fromthe difference in path lengths of the various multipath signalsreceived.

[0015] The direct path is the shortest and therefore requires the leasttravel time from transmitter to receiver while the various unwantedmultipath signals have various greater lengths, and therefore variouslonger travel times, than the direct path signals. Signals are processedin part in a TV receiver in accordance with their time of arrival andtherefore the resultant video display may include a plurality of imagesslightly displaced in space on the TV monitor in accordance with theirdifferent path lengths.

[0016] Many conventional partial solutions to the problems of multipathreception exist. In the TV broadcast example, a highly direction antennais often used for the receiver to reduce the number of multipath signalsprocessed by the receiver. In addition, various discriminationtechniques have been developed which use the knowledge that theamplitude of the direct path signal is typically substantially greaterthan that of the unwanted multipath signals because signal amplitude isdegraded by the square of the path length.

[0017] In other types of systems, such as the GPS systems using PRNencoded spread spectrum signals, certain conventional techniques aredifficult or impossible to use. For example, GPS transmitters arepositioned on satellites with complex orbital paths so that the positionof the multiple transmitters are constantly changing. This makes ahighly directional antenna system almost completely unusable. Similarly,digital receivers, including those used in a GPS receiver, often do notrely solely on the amplitudes of the signals received, but rather relyon other signal characteristics, such as time of arrival.

[0018] Multipath processing techniques currently used for complexreceivers, such as GPS receivers, are often quite complex and subject toinaccuracies. An example of one such conventional technique is describedin U.S. Pat. No. 5,414,729 issued on May 9, 1995 to Patrick Fenton andassigned as issued to NovAtel Communications Ltd., Canada. In thistechnique, an autocorrelation function of a partially processed receivedsignal, including multipath components, is compared to an estimatedautocorrelation function of an estimated direct path signal to attemptto discern direct path signals from multipath signals for furtherprocessing. This technique of comparing processed and estimatedcorrelation power, is complex and may be subject to error in that thepartially processed signals relied on are themselves subject todegradation from many effects in addition to multipath effects includingreceiver limitations, which may reduce the accuracy or effectiveness ofthe multipath processing techniques.

[0019] For example, in tracking a GPS C/A signal to determine positioninformation from GPS satellite transmitters, it is typically importantto derive an accurate estimate of the time of arrival, known as codephase, of the PRN modulation of the direct path component of the C/Asignals received from each of the various GPS satellites. It is alsoimportant to derive an accurate estimate of the phase of the underlyingcarrier signals transmitted from the satellites on which the modulationis applied, known as the carrier phase. However, as apparently shown forexample in FIGS. 6, 7 and 8 of the above referenced Fenton patent, thedelayed multipath components degrade the tracking of the code andcarrier phase estimates by distorting the correlation functions used issuch tracking.

[0020] What is needed is an improved spread spectrum receiver, such asone for use with GPS navigation systems, which avoids the limitations ofconventional designs and provides improved results in a wide range ofreception conditions, including multipath interference.

SUMMARY OF THE INVENTION

[0021] In one aspect, the present invention provides an improvedterrestrial navigation system using a GPS receiver which can continue tonavigate with continuous GPS data from less than the 3 or 4 GPSsatellites commonly required. The GPS data is augmented with data fromanother source. The source of the augmentation data may include datafrom external sensors, data bases including map data bases, and/orknowledge of the physical environment within which the vehicle is to benavigated. The use of such augmentation data permits GPS satellitenavigation solutions for stand-alone GPS systems as well as for GPSsystems integrated with external sensors and/or map databases with lessthan 3 or 4 continuously visible GPS satellites.

[0022] In other aspect, the present invention provides a GPS systemwhich uses a digital ASIC and RF chipset and a relatively wide IF band.A simple, 2-pole LC IF filter is associated with the RF chip while adecimator or digital filter associated with the digital chip to run thesystem at a reduced clock rate. The simple 2-pole filter is used in lieuof the more complex and expensive 5 or 6 pole filter that wouldotherwise, be used in a conventional receiver system of this type.

[0023] In another aspect, the present invention provides a GPS receiverin which map data used to determine routing is also used as a source ofdata augmentation for a single satellite solution by providing directionof travel information.

[0024] In still another aspect, the present invention provides a methodof augmenting GPS data using information from the physical environment.For example, vehicles are usually constrained to tracks no wider thanthe width of the roadway—and often to tracks only half the width of theroadway—and trains are constrained to the width of their tracks. Thiscross track constraint data may be used to provide augmentation data andallow the vehicle to continue to navigate with only a single satellitein view. The cross track constraint data permits the computation ofalong track data useful for calculating total distance traveled toprovide a GPS based odometer measurement.

[0025] The present invention permits the computation of distance alongtrack for use as an odometer reading while tracking only one satellite.Cross track hold provides along-track data directly which, in the caseof a vehicle, directly provides distance traveled information useful inlieu of a conventional odometer reading.

[0026] In addition to clock and altitude hold, the present inventionuses a technique which may be called cross-track hold in which thesingle satellite in view is used for determining the progress of avehicle such as a car along its predicted track, such as a roadway. Thedata conventionally required from a second satellite is orthogonal tothe track and therefor represents the appropriate width of the roadway.This value may be assumed and or constrained to a sufficiently smallvalue to permit an estimate of the value, e.g. y_(est) to provide a modedescribed herein as cross-track hold while obtaining useful GPSnavigation from a single satellite in view.

[0027] In other words, in accordance with the present invention, singlesatellite navigation may be achieved by using the data from the singlesatellite for on-track navigation information while holding orestimating the time, altitude and/or cross-track navigation data.

[0028] The required augmentation data may additionally, oralternatively, be derived from other sources in the physicalenvironment, such as turns made by the vehicle during on-track travel.In accordance with another aspect of the present invention, the vehiclemay detect turns made during travel and update the current position ofthe vehicle at the turn in accordance with the timing of the turn. Turndetection may be accomplished by monitoring changes in the vehiclevector velocity derived from changes in the GPS derived positioninformation or by monitoring changes in the compass heading or by anyother convenient means.

[0029] In another aspect, the present invention provides a GPS systemfor navigating a vehicle along a track, including means for tracking atleast one GPS satellite to provide on-track information related toprogress of the vehicle along a selected track, means for providing anestimate of cross track information related to motion of the vehicleperpendicular to the track, and means for providing vehicle navigationdata, such as vehicle position or vehicle velocity, from the on-trackinformation and the cross-track estimate.

[0030] In still another aspect, the present invention provides a methodof deriving position information from a single GPS satellite by trackingat least one GPS satellite to provide on-track information related toprogress of the vehicle along a selected track, providing an estimate ofcross track information related to motion of the vehicle perpendicularto the track, and determining the position of the vehicle from theon-track and the cross-track estimates.

[0031] In still another aspect, the present invention provides a methodof updating GPS position information for a vehicle navigating onroadways by deriving an indication that the vehicle has made a turn at aparticular point along a predetermined track, comparing the turnindication with stored navigation data to select data related to one ormore predicted turns at or near the particular point, comparing the turnindication with the predicted turn data to verify that the indicatedturn corresponds to the predicted turn, and updating GPS positioninformation to indicate that the vehicle was at the predicted turnlocation at a time corresponding to the turn indication.

[0032] In still another aspect, the present invention provides a GPSsystem for navigating a vehicle, the system including means for trackingat least one GPS satellite to provide on-track information related tothe direction of travel of the vehicle along a selected track, and meansfor deriving vehicle navigation data from changes in the direction oftravel of the vehicle along the selected track.

[0033] In a still further aspect, the present invention takes advantageof the typical improvement in satellite visibility possible in urbanroadway intersections by providing a fast satellite reacquisition schemewhich permits data from otherwise obscured satellites to aid in thenavigation solution even though visible only for a short time, forexample, as the vehicle crosses an intersection in an urban environmentin which tall buildings obscure the satellites from view except in theintersection.

[0034] In a further aspect, the present invention provides a spreadspectrum receiver having means for providing a plurality of versions ofa locally generated signal related to a spread spectrum signal to bereceived, means for combining at least two of the versions of thelocally generated signal with the spread spectrum signal to produce aproduct signal related to each of the at least two versions, means forevaluating the at least two product signals to adjust a parameter of thethird version of the local signal, means for combining the adjustedthird version of the local signal with the spread spectrum signal toproduce a data signal, means for determining a predicted value of theparameter when the spread spectrum signal becomes unavailable, means forcombining an additional plurality of versions of the locally generatedsignal related to the predicted value with received signals to produceadditional product signals related to each of the additional pluralityof versions of the locally generated signal, means for evaluating theadditional product signals to produce a reacquired data signal.

[0035] In another aspect, the present invention provides a method ofoperating a receiver for coded GPS signals from satellites bycorrelating early, prompt and late versions of a locally generated modelof the code with signals received from GPS satellites to adjust a delayof the prompt version to track a selected satellite, maintaining apredicted value of the delay when the selected satellite is unavailable,correlating a plurality of different early versions of the locallygenerated code with signals received from satellites to producecorrelation products, correlating a plurality of different late versionsof the locally generated code with signals received from satellites toproduce correlation products, and reacquiring the previous unavailableselected satellite by selecting the version producing the largestcorrelation product above a predetermined threshold as a new promptversion of the code to track the satellite.

[0036] In a still further aspect, the present invention provides aspread spectrum receiver for a spectrum spreading code having a fixednumber of bits repeated during a fixed length time period from aplurality of transmitters having a first time slicing level for slicingthe time period of the transmitted code into a number of time segmentsevenly divisible into the twice the number of samples, a secondmultiplexing level for dividing each time segment into a number ofchannels, each of the channels being used for tracking one of thetransmitters, and a third level dividing each of the channels in one ofthe segments into a number of code phase delay tests.

[0037] In another aspect, the present invention provides a receiver forprocessing signals from a plurality of sources, each modulated by adifferent spectrum spreading code repeating at a common fixed interval,including a sampler for deriving digitally filtered I and Q samples froma composite of spread spectrum signals received from the plurality ofsources, means for segregating samples of the signals being receivedduring each interval into a number of time segments, a time divisionmultiplexer for segregating different versions of the sequential samplesinto each of a number of channels, each channel representing one of theplurality of sources, a correlator for correlating the version of thesample in each channel with a series of sequentially delayed versions ofthe spectrum spreading code applied to the signals from the sourcerepresented by that channel, and an accumulator associated with each ofthe series of delays in each of the channels for processing the resultsof correlations performed during one or more intervals to deriveinformation related to the signals.

[0038] In another aspect, the present invention provides a GPS receiverin which the residual code phase tracking, or pseudorange, error due tosimultaneous reception of multipath signals is detected, estimated andcorrected. In particular, the distortion of the correlation function ofthe multi- and direct path signal composite as received with theinternally generated code is detected by comparison of an aspect ofresultant correlation function with a model of the correlation functionexpected in the absence of multipath distortion. The comparison providesan indication of the sign of the residual error.

[0039] It has been determined that the composite of a direct path andone or more multipath signals distorts the correlation function. If, asin most common cases, the multipath signal(s) are weaker than the directpath signals, the interference between such signals as received resultsin a predictable distortion of the correlation function. If the carrierphase(s) of the multipath signal(s) are shifted from between about 0° to90° from the carrier phase of the direct path signal, the signals tendto reinforce each other resulting in a widening of the correlationfunction. Similarly, if the carrier phase(s) of the multipath signal(s)are shifted from between 90° to about 180° from the carrier phase of thedirect path signal, the signals tend to cancel each other resulting in anarrowing of the correlation function.

[0040] The correlation products are used in a code tracking loop totrack and determine code phase. The most common scheme is to trackpoints of equal magnitude (or power) separated by one C/A code chipwidth and estimate the time of arrival of the direct path signal as themid-point between these points of equal magnitude. The points of equalmagnitude on either side of the direct path arrival time are known asthe early and late correlation time and the estimated arrival time ofthe direct path is called the punctual correlation time. In the presenceof multipath signals, the correlation function has been found to bedistorted so that the mid-point between the early and late correlations,that is the prompt correlation, is not an accurate estimation of thearrival time of the direct path signal.

[0041] When the correlation function of the composite is distorted to bewider than the correlation function expected for a direct path onlysignal, the distortion results in a lag error in which the promptcorrelation lags the actual direct path signal received. Similarly, whenthe correlation function of the composite is narrower than expected, thedistortion results in a lead error in which the prompt correlation leadsthe time of arrival of the direct path signal.

[0042] The prompt correlation therefore leads or lags the actual time ofarrival of the direct path signal by an amount designated herein as theresidual code tracking error. The magnitude of the error can beapproximated by the degree of narrowing or widening of the correlationfunction. Reduction of this error, or detection and correction of theerror, enhances the accuracy of the resultant position determination.

[0043] The present invention also provides an improved multipath signalprocessing technique which directly cancels the effect of multipathsignals by processing the composite of direct and multipath signals asreceived to create a synthesized replica of the signal as received whichmay then be subtracted from the signals as received to cancel oreliminate the effects of the non-direct path, unwanted multipathsignals. As a result of the steps required to create a replica whichwill actually cancel the signal as received, the actual carrier and codephases are accurately determined without degradation by multipathcomponents. The cancellation may preferably occur after the receivedsignals have been partially processed to reduce complexity of the systemand required signal processing and enhance accuracy of furtherprocessing.

[0044] In another aspect, the present invention provides an improvedtechnique for multipath signal processing in which a tracking loopapplied to the signal as received is used to synthesize an accuratereplica of the signals as received, including multipath components. Thereplica is then canceled from the signal being processed to decode thesignal as received without multipath degradation. The replica signal issynthesized to approximate, using least squares or similar approximationtechniques, the GPS signal as received including distortions caused bymultipath. This provides a useful estimate of the multipath signalprofile. From this estimate, relatively accurate measurements of codeand carrier phase of the direct path GPS signal received are derived.

[0045] In still another aspect, the present invention provides a spreadspectrum receiver including a multi-bit digital correlator forcorrelating each sequential segment of a spread spectrum signal with atleast one series of differently time delayed code replicas and matrixmeans responsive to the correlator to derive code source specificinformation. The multibit correlator may be configured from a set ofcorrelators for simultaneously correlating portions of each sequentialsegment with portions of a segment of a code replica. The series ofdifferently time delayed code replicas may be sequential or interlaced.

[0046] For efficient C/A GPS operation, each segment should include asignal sample having a duration of an integral number of half chipwidths proportional to a number selected from 3, 11 and 31 while thenumber of satellite channels and time delays are proportional to theothers of those numbers. The multi-bit correlator operates upon a firstsequential segment while the sample register collects a subsequentsequential segment. The matrix means includes m times n data cells forstoring data related to the correlation of the spread spectrum signaland the receiver may be selectively operated to form either n differentcode specific sets of m different time delayed correlation products or ntimes m different time delayed correlation products for one code.

[0047] The series of time delayed code replicas covers a tracking windowof time sufficient to track a prompt time delay from a selected codetransmitter as well as additional time delayed code replicas covering arecapture window of time separate from the tracking window. Therecapture window is sufficiently large to include a prompt time delaycorrelation product for each code after predictable periods of codetransmitter obscuration during normal operation of the receiver.

[0048] Multipath performance is improved by use of tracking meansresponsive to the matrix means for tracking a prompt delay from a sourceof the code together with means for monitoring correlation productsrepresenting lesser time delays than the prompt delay to detect theinaccurate tracking of a multipath signal from the source of the code.In addition, multipath errors are reduced by analyzing the ratios ofcorrelation products surrounding the prompt correlation to correct forinterference using means for causing correlation products of two of thetime delayed replicas to be equal together with means for selecting theprompt delay in response to the ratio of the amplitude of the equalcorrelation products to a correlation product having a time delaytherebetween. The prompt time delay is selected to be less than half waybetween the time delays of the equal correlation products if the ratioof the amplitudes of the equal correlation products to a correlationproduct having a time delay half way between the time delays of theequal correlation products is greater than one or more than half waybetween the time delays of the equal correlation products if the ratioof the amplitudes of the equal correlation products to a correlationproduct having a time delay half way between the time delays of theequal correlation products is less than one.

[0049] IF bandwidth improvement is provided by use of sampling means forforming digitized samples of signals received from code sources at afirst rate and digital filtering means for forming the sequentialsegments from the digitized samples at a second rate substantiallyslower than the first rate.

[0050] Hand held operation is aided by use of means for temporarilyinterrupting correlation for multiple code periods to reduce receiverenergy consumption and means for resuming correlation to continuederiving code source specific information. The correlation may beresumed periodically to provide an apparently continuous display. Theperiods of interruption are a multiple of the code period and shortenough so that unmodeled clock drift is less than the difference in timebetween the time delays used for the correlation of signals from a codesource. Correlation may also be resumed in response to means formodeling clock drift for synchronizing a local clock with a clockassociated with a single source of the code or in response to operatorinteraction.

[0051] In a still further aspect, the present invention provides amethod of operating a GPS C/A code receiver by forming x multibitdigital segment values per C/A code period, each representing asequential segment of a received composite of satellite signals,correlating each digital segment value with n satellite specific sets ofm differently time delayed segments of C/A code modulation to form atleast n times m time delay specific correlation values, and determiningnavigation information from the correlation values, where x, m and n areeach prime factors of the number code chips per C/A code period.

[0052] Multipath performance is improved by comparing the magnitudes oftwo equal correlation values to the magnitude of a correlation valuetherebetween to select a prompt delay more than half way between thetime delays represented by the equal correlation values when themagnitude of the equal correlation products is equal to less than halfof a peak correlation value therebetween or less than half way betweenthe time delays represented by the equal correlation values when themagnitude of the equal correlation products is equal to more than halfof a peak correlation value therebetween.

[0053] Battery operation is improved by interrupting the step ofcorrelating for a series of code periods to reduce receiver energyconsumption. The interruption period is less than the time required foran internal receiver clock to drift the time delay represented by theseries of time delay segments related to one particular satellite.Correlation is resumed periodically to update the display or to updatethe internal clock or in response to operator intervention in apush-to-fix mode.

BRIEF DESCRIPTION OF THE DRAWINGS

[0054]FIG. 1 is an overview illustration of the operation of a carnavigation system according to the present invention.

[0055]FIG. 2 is a block diagram of the GPS car navigation systemdepicted in FIG. 1, used for improved navigation during reducedsatellite visibility.

[0056]FIG. 3 is a schematic representation of a single satellite channelof a GPS receiver used for fast satellite reacquisition.

[0057]FIG. 4 is a schematic representation of a portion of the singlesatellite channel shown in FIG. 3 in which an additional plurality ofsets of delayed code samples are correlated to provide a finer gradationof correlation intervals.

[0058]FIG. 5 is a functional block diagram of a preferredimplementation, on an ASIC, of the satellite tracking channels andassociated processing components of the GPS car navigation system shownin FIG. 1.

[0059]FIG. 6 is a functional block diagram of the Doppler Block of theGPS car navigation system shown in FIG. 1.

[0060]FIG. 7 is a functional block diagram of the Coder Block of the GPScar navigation system shown in FIG. 1.

[0061]FIG. 8 is a functional block diagram of the Correlator Block ofthe GPS car navigation system shown in FIG. 1.

[0062]FIG. 9 is a function block diagram overview showing theinterconnections between the Doppler, Code, Correlator and other blocksof the system described in FIG. 5.

[0063]FIG. 10 is a block diagram of the operation of the system, shownin FIGS. 5 and 9, illustrating the data path of the present invention.

[0064]FIG. 11 is a series of exploded time segments illustrating theoperation of the data path of the present invention.

[0065]FIG. 12 is a block diagram overview of a GPS receiver systemillustrating a complete receiver system according to the presentinvention including a more detailed view of the satellite receiversection shown in FIG. 2.

[0066]FIG. 13 is a block diagram description of GRF1 204.

[0067]FIG. 14 is a pin out of GRF1 204.

[0068]FIG. 15 is a timing diagram of the AGC interface.

[0069]FIG. 16 is an connection diagram showing a preferredinterconnection between ASIC GSP1 202, GRF1 204 and the relatedcomponents.

[0070]FIG. 17 is a graph of the correlation product of a direct pathsignal received without multipath interference, together withcorrelation products distorted by the presence of multi-path signalswhose carrier phase differs from the carrier phase of the direct pathsignal by about 0° and by about 180°.

[0071]FIG. 18 is a schematic block diagram of portions of a GPS receiverillustrating the delay-locked tracking loop with multipath residual codephase error detection, calculation and/or correction according to thepresent invention.

[0072]FIG. 19 is a block diagram schematic of a portion of a GPSreceiver showing another embodiment of the present invention in whichmultipath signal replicas are produced in an error tracking loop forlater cancellation in a carrier tracking loop.

[0073]FIG. 20 is a block diagram schematic of a portion of a GPSreceiver showing still another embodiment of the present invention inwhich parallel processing paths are used to track predicted values of anunknown Nav Data Modulation bit until the bit is demodulated forcomparison and selection.

[0074]FIG. 21 is a block diagram schematic of a system similar to thatshown in FIG. 20 in which the predicted Nav Data Bit Modulation isstripped from the raw signals to be processed rather than being added tothe code phase applied to the error tracking loops.

[0075]FIG. 22 is a schematic representation of the matrix of accumulatedcorrelation products for several SVs at several times showing theplacement of the early, prompt and late correlation products for thedirect and multipath signals at various location within the 22 tap delayline illustrating code phase verification and direct and multipathsignal modeling.

[0076]FIG. 23 is a schematic representation of the operation of oneembodiment of the system according to the present invention in which aseparate channel is used in a fast acquisition mode for code phaseverification for all SVs sequentially.

[0077]FIG. 24 is a block diagram of an alternate embodiment of the GPScar navigation system depicted in FIG. 2 used for improved navigationduring reduced satellite visibility.

[0078]FIGS. 25A and 25B are diagrams illustrating cross track errorresulting from the use of a straightline predicted track.

[0079]FIG. 26 is a flow chart diagram of an energy reducing sleep modeof operation in accordance with the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

[0080]FIG. 1 is an overview illustration of the operation of a GPS carnavigation system according to the present invention. The GPS carnavigation system, described below in greater detail with respect toFIG. 2, is mounted in car 10 which is moving along the center of roadway12. NAVSTAR satellite 14, in the lower left quadrant of the figure, isin view of car 10. A simulated GPS circular overhead display, positionedapproximately over intersection 22 of roadway 12 and roadway 16indicates that satellite 14 is between 0° and 45° degrees of elevationabove the horizon as viewed from car 10.

[0081] For the purposes of illustration, satellite 18 is positionedoverhead between the elevation angles of 0° and 45° degrees. However,the line of sight between satellite 18 and car 10 is obscured bybuildings 20 so that satellite 18 is not in view of car 10 at theposition along roadway 12 as shown. Similarly, the line of sight betweensatellite 19 and car 10 is obscured by buildings 21. However, as will bediscussed below, when car 10 crosses intersection 22, the line of sightbetween satellite 19 and car 10, when the car is in position 11 withinintersection 22, may momentarily be clear.

[0082] Turning now to FIG. 2, GPS car navigation system 24 is a firstembodiment of a car navigation system according to the present inventionwhich may be installed in car 10 of FIG. 1. GPS car navigation system 24includes GPS car system module 26 which is provided with signalsreceived from satellites by GPS antenna 28, data related to the thencurrent—and expected future—physical environment of car 10 by forexample map data base 30 and data input from the operator of the car byfor example input device 32. GPS car system module 26 provides output tothe operator, for example, in the form of a GPS map display, via displayunit 34, which may include both visual display as well as a voiceinterface announcing information as required to supplement or evenpartially replace visually presented data.

[0083] The present invention may be configured for use with only a GPSreceiver, a GPS receiver aided by map data from, for example, map database 30, and/or a GPS receiver aided by both a map data base as well asan external source of information, for example, from an external sensor.This external source of information may be used for maintaining positioninformation by dead reckoning during those times when a sufficientnumber of satellites are not in view to provide the desired information.

[0084] In operation, a composite of all signals received from NAVSTARsatellites is applied by GPS antenna 28 to satellite receiver section 36of GPS car system module 26. Signals from individual NAVSTAR satellitesare then tracked in satellite specific tracking channels such as SatTRAKchannels 38, 40, 42 and 44. Although it is quite conventional to track 4to 12 satellites and therefore use 1 to 12 satellite tracking channels,only 4 such channels are shown herein for clarity. The outputs of thesesatellite specific tracking channels are processed by SatProcessor 46 toprovide x_(user), y_(user), z_(user) and t_(user) data via appropriatelogic control to a GPS position processor, such as PosProcessor or NavSoln 48 which determines the navigation solution to determine positiondata. Position data is then applied by PosProcessor 48 to an appropriatedisplay for the operator of the car, such as display unit 34.

[0085] External sensor 49, in FIG. 2, may conveniently provide sensordata, or local or satellite position information, or positioninformation which provided local position or satellite positioninformation directly to PosProcessor 48 for comparison with the positioninformation determined by SatProcessor 46 and/or Map/Display Processor50. External sensor 49 may conveniently be any sensor which providesinformation useful for updating position information for dead reckoningincluding direction, speed, velocity or acceleration or other data fromwhich dead reckoning data may be derived. Conventional sensors includeinertial navigation systems, with magnetic or optical gyroscopes,fluxgate compasses, odometer or wheel sensors or the like.Alternatively, external GPS format signals, such as those provided by apseudolite, may be used to update current satellite or positioninformation.

[0086] At the beginning of a navigated trip, the operator of car 10would typically provide data concerning the physical environmentsurrounding the intended route to GPS car system module 26 by insertingan appropriate data storage device such as a CD ROM, into map data base30, and/or by entering the data via input device 32 which convenientlymay be a keypad, keyboard, pointing device, track ball, touch screen,graphical pad, a voice recognition interface and/or a combination ofsuch input devices. The operator of car 10 would also enter the intendeddestination into GPS car system module 26 via a data entry device suchas a mouse or track ball interacting with display unit 34 and/or viainput device 32. Map/Display Processor 50 of GPS car system module 26would then develop the desired route, typically from the then currentlocation as a point of origin to the desired destination, in accordancewith the rules of navigation and details of the locale provided by mapdata base 30. The appropriate route data is stored in Route Data Base52, including the routing in the form of roadways and turns betweenroadways. Additional information, such as altitude, width of theroadways and etc. may also be contained within map data base 30 and/orRoute Data Base 52. These data bases may be contained within GPS carnavigation system 24 and/or be made available to GPS car system module26 from outside storage media such as diskettes positioned inappropriate disk drives.

[0087] During navigation, each satellite in view may be tracked in asatellite tracking channel. If, for example, 4 or more satellites are inview, each of the satellites in view will be tracked in an individualchannel, such as SatTRAK channels 38, 40, 42 and 44. The output of thesatellite tracking channels is then applied to SatProcessor 46 whichwould provide satellite based solutions of the four unknowns, such asx_(user), y_(user), z_(user) and t_(user). The data represented byx_(user) and y_(user) are conventionally used as the two dimensionalorthogonal components of the surface of the earth such as north andeast. However, in accordance with the present invention, x_(user) andy_(user) are preferably used to represent data for a pair of orthogonaldirections specific to the direction of vehicle travel called theon-track and cross-track directions.

[0088] Conventional bearing, such as north, south, east and west arerelative to the magnetic or true north poles of the earth, whileon-track and cross-track, as used in the present invention, are bearingsmade relative to the expected direction of travel of car 10 at anyparticular point in the route. For example, while a 90° turn from aheading of due north would change the angle of the vehicle velocityvector from 0° to 90° if bearings relative to the Earth's surface suchas north and east are used, the same turn would show no change in the 0°angle of the vehicle velocity vector before or after the turn as long ascar 10 remained on the expected track.

[0089] The data represented by z_(user) is typically surface elevation,such as the elevation above sea level, while the data represented byt_(user) is the exact time as determined from one or more of thesatellite tracking channels.

[0090] Solutions for all 4 unknowns of position information may bederived from signals from 4 satellites in view, so that exact positioninformation within the limit of the accuracy then available from the GPSsatellite constellation in view can therefore be applied by PosProcessor48 to Map/Display Processor 50. The position information determined fromthe satellites is processed with the physical data from map data base30, and/or the desired routing data from Route Data Base 52, to provideappropriate navigation information to the operator of car 10 via displayunit 34.

[0091] If less than 4 satellites are in view, the t_(user) solutionapplied to PosProcessor 48 may be replaced by t_(est) 54 estimatedsolution derived for example from an internal clock model 54 in positionestimate or model 63. Similarly, the z_(user) solution may be replacedby z_(est) 56 solution derived from elevation estimate 56, also inposition model 63, in accordance with routing data derived from RouteData Base 52 in accordance with then current GPS position informationapplied to Map/Display Processor 50. T_(est) 54 and z_(est) 56 areapplied to PosProcessor 48, and used in lieu of t_(user) and z_(user),when only two satellites are in view. The use of estimated or modeledsolutions for the t and z variables, that is the use of t_(est) 54 andz_(est) 56 are conventionally known as clock hold and altitude hold,respectively.

[0092] It must be noted that the particular configuration of GPS carnavigation system 24 as described so far is only one of the many knownways of configuring such systems any of which may be used withoutdeparting from the spirit or scope of the present invention as definedby the claims.

[0093] In accordance with the present invention, the width of theroadway, either known or estimated, may be used to provide y_(est) 60for use in lieu of y_(user) when only one satellite is visible. y_(est)60 may be derived from Route Data Base 52 and/or map data base 30. Sincethe x and y unknowns are orthogonal, x_(user) may be used to describethe on-track information, that is, the progress of car 10 along itspredetermined track while y_(est) 60 represents the cross trackinformation, that is, how far car 10 has strayed from the center of theroadway.

[0094] Referring therefore to FIG. 1, x_(user) is used to indicate theprogress of car 10 along roadway 12 while y_(est) 60 is used torepresent the width of roadway 12. The actual width of the roadway maybe derived from map data base 30, or assumed because the actual value ofthe width of the roadway is relatively small and often thereforeinsignificant compared to the distances to be measured along thenavigation route. Since the maximum allowable cross-track error, i.e.the maximum allowable appropriate value for y, is constrained by thephysical width of the roadway, y_(est) 60 is relatively easy toaccurately estimate.

[0095] By using y_(est) 60, z_(est) 56 and t_(est) 54, it is possible toprovide useful navigation data for car 10 along a known roadway usingsignals from only a single satellite in view. It is important to notethat reasonably accurate prior or initial position information may berequired and that not all visible NAVSTAR satellites will be suitablefor single satellite navigation, depending upon the position of thesatellite with respect to the path of car 10. The position informationdetermined during single satellite navigation is along track positioninformation which may be accumulated and used for determiningaccumulated along track distance traveled. This data provides, and maybe used in place of, the distance traveled information conventionallyprovided in a vehicle by an odometer.

[0096] Referring now to both FIGS. 1 and 2, turning data may be used toimprove terrestrial GPS navigation by using the detection of a knownturn to update progress along a predetermined route. When at least 4satellites are in view, the position of car 10 may be known to theaccuracy of the GPS system. When using clock, altitude or cross-trackhold, or some combination thereof, the known position of the car isdegraded by any inaccuracy of the estimate or estimates used. Forexample, during clock hold, internal clock model 54 drift and inaccuracyof the source of t_(est) 54 will degrade the accuracy to which theposition is known as a function of the magnitude of the inaccuracy.Similarly, any change in altitude from the estimated or fixed altitude,that is, any inaccuracy of z_(est) 56, will degrade the accuracy of theknown position. Changes in roadway width and inaccuracies in the mapdata with regard to the roadway width, that is, any inaccuracy iny_(est) 60, may also degrade the position information.

[0097] Even with 4 satellites in view, the geometry of the visiblesatellites may make it difficult to determine position by measurement ofGPS signals. Further, during terrestrial navigation, it is not uncommonfor satellites to be temporarily obscured from view during navigationby, for example, being blocked by buildings and other obstructions.

[0098] It may therefor be desirable to update the accuracy with whichthe current position of the vehicle is known with actual positioninformation whenever possible. The update information will sometimes beuseful when 4 satellites are in view, but will always be useful assupplemental data when less than 4 satellites are in view. Updateinformation is extremely useful during single satellite navigation toavoid the accumulation of errors in position information.

[0099] In operation, an original position and a destination wereprovided to the system which then determined the track to be followed.The track to be followed, or routing information, may be provided in theform of a data base of route information such as Route Data Base 52. Inthe example used, track 62 follows the centerline of roadway 12 tointersection 22 and then makes turn 64 to follow the centerline ofroadway 16. Track 62, roadways 12 and 16, intersection 22 and turn 64are provided to Route Data Base 52 during the preparation of the routeby Map/Display Processor 50 from the then current position and thedestination entered via input device 32.

[0100] The physical position of car 10 is very accurately known when car10 turns at turn 64. This accurate knowledge of the car's position at aparticular time may conveniently be used to update the GPS navigationinformation by providing a position reset which is similar to a knowninitial position. Update information from turns will most likely beuseful if the angle of turn 64 is sufficiently large to provide anunambiguous position determination. It is expected that any turn greaterthan 45° may be detected. As the speed of the vehicle increases, smallerturn angles may also provide useful information. The position updateinformation is applied to position model 63 to update internal clock ort_(est) model 54, elevation or z_(est) model 56, y_(est) model 60 aswell as x_(est) 61 which is a model of the along-track position of thecar. These four estimates together for position model 63, which may beupdated by information from map data base 30, Route Data Base 52,current position processor 70, PosProcessor 48 and/or external sensor49, to form the most accurate available position model 63. Positionmodel 63 may also be used to provide estimates to the same data sources.

[0101] The actual turning of the car may be detected by a change in thevehicle velocity vector determined from the GPS data or from otherconventional means such as a magnetic compass or an inertial navigationsensor. In accordance with the rapid reacquisition system describedbelow with respect to FIG. 3, GPS data alone may conveniently detectsuch turns even when single satellite navigation is required. The turnas detected by turn detector 66 is correlated with data from Route DataBase 52 to determine the actual position of the car to the accuracy ofthe map data base 30. The accuracy of the data in map data base 30 mayeasily and conveniently be much greater than the accuracy available fromthe GPS system especially if single satellite navigation, or anycombination of clock, altitude or cross-track hold, is used. Thereforethe position update may provide a substantial increase in the accuracyof the then current position determination.

[0102] The benefit of the approach of this embodiment of the presentinvention is similar to the identification and use of a known waypointduring a dead reckoning navigation run. The cumulative error is reducedsubstantially at the known waypoint so that additional, future positiondetermination errors do not carry the burden of an accumulation of pasterrors.

[0103] As shown in FIG. 2, Route Data Base 52 provides data related totrack 62, typically from Map Data Base 30, to Map/Display Processor 50to display the current GPS position and may also provide similarinformation to turn detector 66, turn comparator 68 and/or currentposition processor 70 in order to update PosProcessor 48 with a positionreset.

[0104] Turn detector 66 may be configured in many different ways and isused to detect turns actually made by car 10 and select turns, such asturn 64, from Route Data Base 52 for later comparison with the detectedturn. In accordance with a preferred embodiment of the presentinvention, turn detector 66 may operate on the current GPS positionprovided by PosProcessor 48 to develop a vehicle velocity vectorposition indicating both the direction and speed of travel. Substantialchanges in the direction portion of the vehicle velocity vector wouldindicate a change in direction, such as a turn. Turn detector 66 maytherefore detect turns directly from the GPS information by determiningthe vehicle velocity vector and detecting changes in the vehiclevelocity vector which represent a turn.

[0105] Turn detector 66, or another unit if convenient, also operates onthe route information provided by Route Data Base 52 to determine theexpected position of car 10 along track 62 based on the then current GPSposition information. Once the expected location of car 10 along theroute is determined, one or more turns in the area of the expectedposition of car 10 can be selected for comparison with the indicationsof a physical turn derived from the GPS data.

[0106] When changes in the actual vehicle velocity vector, as derivedfor example from the GPS position data, compare appropriately with thechanges predicted at a particular turn as derived from Route Data Base52, the actual position of car 10 at the time of the turn can be veryaccurately determined and used to update the GPS data at the turn. Forexample, if an actual turn is detected from a change in the vehiclevelocity vector from the GPS position of car 10 near the time predictedfor that turn, the actual position of car 10 at the time of the turn canbe determined and used to update the then current GPS position for useas a position reset applied to PosProcessor 48.

[0107] Alternatively, turn detector 66 may use non GPS measurements fordetermining the occurrence of an actual turn of car 10, such as compassheadings or inertial navigation determinations derived for example fromexternal sensor 49, and applied directly to turn detector 66 or viaPosProcessor 48 as shown in FIG. 2.

[0108] Detection of turns from GPS signals may easily be accomplished aslong as 2 satellites are in view and provide appropriate geometries fordetermining two dimensional coordinates of the car's position. Duringsingle satellite navigation, as described above, the use of turninformation for updating the last known position information becomeseven more important, but the location of the single satellite in view,relative to track 62, becomes of even greater importance so that actualturns may be accurately detected.

[0109] Turn detection may also be provided by monitoring changes betweenacquired and obscured satellites. If, for example, only satellite 14 wasvisible to car 10 on roadway 12 before intersection 22, and uponentering intersection 22, satellite 19 suddenly became visible whilesatellite 14 was momentarily obscured, the change over from satellite 14to satellite 19 could be used to indicate a turn in accordance with thedata from each satellite. Using a rapid reacquisition scheme, asdescribed herein below, the actual position at which the change ofdirection, that is, the position at which the switch between satellitesoccurs, can be sufficiently accurately determined to permit preciseposition update information at the turn.

[0110] Similarly, turn comparator 68 may conveniently be implementedwithin Another component of the system, such as PosProcessor 48,Map/Display Processor 50 and/or SatProcessor 46, so that a candidateturn may be selected from the route data for track 62 for comparisonwith the detected turn data.

[0111] Referring now to FIG. 3, in another embodiment, the presentinvention provides for fast reacquisition of satellite signals, usefulfor example when a previously acquired satellite is obscured and thenappears perhaps for only a short time, for example, as a car travelsthrough an intersection.

[0112] Referring to the line of sight between car 10 and satellite 19 asshown in FIG. 1, it is common in an urban environment for the buildingsalong the sides of the street to act as a barrier wall obscuring thelines of sight to many GPS satellites. However, the barrier wall formedby buildings 20 and 21 is commonly breached at intersections such asintersection 22. For example, car 10 while traversing intersection 22may reach position 11 in which the previously obscured line of sight toa satellite, such as satellite 19, is momentarily not obscured becauseof the break between buildings 20 and 21 at intersection 22. Thismomentary visibility of a previously obscured satellite may occur whilecar 10 is in the intersection or at the edges of the intersection.

[0113] The length of the momentary contact with satellite 19 isrelatively short. For example, if intersection 22 is 60 feet wide andcar 10 is traveling at 30 mph, the time taken to cross the intersectionmay be as short as 1.3 seconds. Conventional GPS navigation systemswould not reacquire and derive useful data from satellite 19, even ifpreviously acquired, during this short time interval.

[0114] In accordance with another embodiment, the present inventionmakes maximum use of such reacquisition opportunities by minimizing thetime required for reacquisition, the collection of data and processingof the collected data for position determination. Referring now to FIG.3, a portion of SatTRAK channel 38 is shown in greater detail as anexample of the configuration of each of the satellite tracking channels.After original acquisition, SatTRAK channel 38 tracks a single satelliteby operating on satellite signals 72 received by GPS antenna 28.Satellite signals 72 include the signals from the satellite beingtracked by SatTRAK channel 38 and are demodulated and selected by beingmultiplied, in one of the correlators 74, by a copy of the 1023 chippseudorandom, spread spectrum code applied to satellite signals 72 bythe GPS satellite. Correlators 74 may be configured from exclusive ORNOR gates to minimize the time required for providing a correlationresult.

[0115] During tracking, the copy of the code produced by code generator76 and applied to exclusive OR correlators 74 by delay 78 issynchronized with the code in satellite signals 72, as received, so thatthe copy of the code correlates with satellite signals 72. This may beaccomplished in several different manners known in the art, including byshifting the time of generation of the code in code generator 76 and/oradjusting the amount of delay applied by an external delay. In anyevent, the code applied to exclusive OR correlators 74 when SatTRAKchannel 38 is locked to the selected satellite, is synchronized with thecode being received from that selected satellite. This correlation iscommonly called the on-time or prompt correlation to indicate thissynchronization.

[0116] Conventional GPS receivers maintain a lock on a satellite signalafter acquisition by performing additional correlations, often calledearly and late correlations or correlations performed by early and latecorrelators. These correlations are displaced in time by a certain delaysuch as one half the width of a C/A code chip from the on-time or promptcorrelator. That is, if the time of occurrence of a particular chip inthe satellite signals is time t0, the prompt correlator under idealconditions would multiply satellite signals 72 with a replica of thecode with the same chip at time t0. The early correlation would beperformed at time t0−½ chip and the late correlation would be performedat a time equal to t0+½ chip. Whenever the synchronization between codegenerator 76 and satellite signals 72 as received begins to drift, thecorrelation results begin to change in favor of either the early or latecorrelation at the expense of the prompt correlation.

[0117] One conventional approach to maintaining lock on the signals froma particular satellite is to adjust the timing of code generator 76 witha feed back loop used to maintain the power in the correlation productsin the early and late correlators to be equal. In this way, codegenerator 76 may be continuously resynchronized with satellite signals72 so that the accuracy of the system is within one half chip in eitherdirection (early or late) of the signals received.

[0118] When satellite signals 72 are temporarily lost, for example,because the satellite signals are temporarily obscured by buildings 20and 21 as shown in FIG. 1, various techniques are used to attempt tosynchronize code generator 76 with satellite signals 72 as received sothat SatTRAK channel 38 can reacquire the signals from-the desiredsatellite. As noted above, conventional techniques include clock andaltitude hold and one embodiment of the present invention providesanother technique called cross-track hold.

[0119] However, unless the obscuration of the satellite signals is verybrief, the accuracy of prediction of such techniques is not enough tomaintain synchronization exception for a very brief period ofobscuration.

[0120] In accordance with another embodiment of the present invention,massively parallel correlation is used to create an expanded capturewindow of correlation capture around the then current predictedsynchronization time in order to immediately reacquire a previouslyacquired, and then obscured, satellite signal. In particular, the speedof reacquisition is made sufficiently fast according to the presentinvention so that useful GPS position data may be acquired during thetime car 10 travels through intersection 22 even though, for example,the signals from satellite 19 were obscured by buildings 20 until car 10was within intersection 22.

[0121] To this end, an expanded series of correlations are performedwith a series of delays a fixed fraction of a chip width, such as ½ chipwidth, apart extending both early and late of the predicted promptcorrelation. As shown in FIG. 3, satellite signals 72 are devolved intoa fixed number of samples, by for example analog to digital conversionin A/D Converter 73, to provide n Signal Samples 75. A similar number ofcode samples are provided through k fixed ½ chip width delays 78 toprovide k-1 sets of n Code Samples 80, progressing from a first set of nCode Samples 80 with no delay to the k-1st set of n Code Samples 80which have been delayed by a total of k delays 78. It is convenient touse ½ chip delays for each delay 78, but other fractions of a chip widthmay be used.

[0122] The {fraction (k/2)}th set of n Code Samples 80, or the setnearest {fraction (k/2,)} may conveniently be delayed the correct amountto perform the prompt correlation in one of the exclusive OR correlators74 with n Signal Samples 75 from A/D Converter 73 during tracking. The{fraction (k/2)}th −1 set of n Code Samples 80 may then be used toperform the early correlation while the {fraction (k/2)}th +1 set of nCode Samples 80 may then be used to perform the late correlation whiletracking. The additional correlations may also be performed duringtracking, but provide a substantial advantage when used duringreacquisition.

[0123] That is, in the present invention, the early, prompt and latecorrelations conventionally used in tracking may also be used duringreacquisition mode, aided by a substantial number of correlations usingadditional delays. Whether or not the early and late correlations areused, a convenient number of additional delays on each side of theprompt delay results from (k-1)=20 so that nine or ten ½ chip delays areprovided on each side of the {fraction (k/2)}th prompt delay. In thisway, correlations are performed during reacquisition at time delays of 5chip widths on either side of the predicted prompt or on-time delay.This represents an expanded capture window of on the order of ±5×300meters of potential error. That is, if the predicted synchronizationwith satellite signals 72 modeled by GPS car system module 26 drifted byas much as the equivalent of a ±1500 meter position error during signalloss from a particular satellite resulting from, for example obscurationin an urban setting, at least one of the plurality of exclusive ORcorrelators 74 would provide the required prompt correlation toimmediately lock onto satellite signals 72.

[0124] Once the correlations are performed, the correlation results foreach set of n Code Samples 80 are summed in summers 84 to produce aseries of values each separately indicating the correlation of n SignalSamples 75 with each of the sets of n Code Samples 80. These correlationresults are applied to threshold test 82, the output of which is appliedto SatProcessor 46 only when satellite signals 72 have been successfullyreceived. The output of threshold test 82 specifies the number of delayswhich represent the prompt correlation for the reacquired satellitesignal. It is important to note that in accordance with the presentinvention, the satellite tracking and reacquisition modes are notseparated functions but rather interact seamlessly. That is, byproviding a substantially expanded capture window, the correlations usedfor tracking are also automatically useful for immediate reacquisitionas long the capture window is sufficiently wide to include any positionerror accumulated during signal obscuration or other loss.

[0125] Because the speed of reacquisition is very important in order tomaximize the opportunity to utilize the brief time during travel throughintersection 22 when satellite 19 may temporarily be in view, it isadvantageous to perform all such correlations in parallel. Further, itis advantageous to continuously perform all such correlations in thecapture window in order to minimize time when a satellite signal is notbeing tracked. In accordance with the presently preferred embodiment,exclusive OR correlators 74 are implemented in hardware rather thansoftware to maximize the speed of correlation and minimize any erroraccumulation by minimizing the time for reacquisition.

[0126] In operation, when car 10 follows track 62 along roadway 12,during at least part of the time buildings 21 obscure the line of sightbetween car 10 and satellite 19. If satellite 19 had previously beenacquired by GPS car system module 26, an approximate time value tosynchronize with the satellite signals will be predicted. This value ismaintained as accurately as possible within GPS car system module 26while satellite 19 is obscured. In order to maintain the prediction forthe required delay as accurately as possible, that is, to minimize theposition error accumulated during signal loss, the above describedtechniques for maintaining or updating position accuracy by usingcross-track hold, resetting position at a determined turn and/or the useof external sensors for dead reckoning provide a substantial benefit foruse with the combined, expanded tracking and reacquisition windowsdescribed above.

[0127] Present technology makes it convenient to provide ½ chip delaysbetween correlators, but other delay values may be used. Similarly, itis convenient to expect that the prompt correlation can be maintainedwithin plus or minus 5 chips of the timing of the satellite signals.FIG. 3 therefore portrays a series of 9 or 10 early and 9 or 10 latecorrelators surrounding prompt correlator 74 to achieve the ±5 chipcapture window surrounding prompt correlator 74 in 20 half chip steps. Adifferent number of correlators and other delays would also work withthe present invention.

[0128] Use of a plurality of fixed delays of one half chip width permitthe immediate reacquisition of signals from a satellite to within anaccuracy of one half chip width. In accordance with satellite signals 72as presently provided by the NAVSTAR satellites, one half chip widthrepresents about 150 meters of maximum position error. It is possible tosubstantially reduce the maximum position error, and/or the speed ofprocessing the data, by using fixed delays of a different amount ofdelay, e.g. fixed delays of one third, one quarter, one fifth or someother value of a chip width.

[0129] Conventional approaches for different modes of operation, switchbetween wide and narrow delays at acquisition and/or reacquisition inorder to provide a compromise between the width of the capture windowand the number of correlations required for the desired range. Inaccordance with the present invention, a new technique is used whichpermits the convenient use of fixed, chip width delays to provide afiner gradation of correlation steps. In particular, as shown in FIG. 4,two sets of half width delays are used to provide the equivalent of aset of quarter width delays. The number of sets of fixed delays and theoffset between them may be selected in accordance with the requirementsof the application being addressed.

[0130] Referring now to FIG. 4, a first plurality of sets of n CodeSamples 80 are derived directly from code generator 76, delayed fromeach other by ½ chip width delays 78 and correlated with n SignalSamples 75 in exclusive OR (or NOR) correlators 74 as provided in FIG.3. For convenience of explanation and drawing, the outputs from thisfirst set of set of n Code Samples 80 are shown applied to summers 84 toindicate that the correlation products produced in exclusive ORcorrelators 74 from each such set of n Code Samples 80 are applied tothreshold test 82 via summers 84. All such correlation products areapplied, but for clarity only the correlation products having no delay,the predicted prompt or k/2th delay and the kth delay are depicted. Thecorrelation products from this first plurality of sets of n Code Samples80 are spaced apart by ½ chip width delay as noted above.

[0131] In addition, in accordance with the present invention, additionalsets of correlation products at different spacings are available by useof one or more additional sets of ½ chip delays 78 by, for example,tracking the same satellite in two or more channels offset in time fromeach other. It is important to note again that other delays and/oroffsets may also conveniently be used and the delays need not all be thesame.

[0132] In particular, a second plurality of sets of n Code Samples 86are derived from code generator 76 and delayed from each other by ½ chipwidth delays 78. However, the delays in the second sets of n CodeSamples 86 are offset from the delays in the first sets of n CodeSamples 80 by a fixed amount, such as a ¼ chip width delay, by insertionof ¼ chip width delay 79 between code generator 76 and the first set ofn code samples in sets of n Code Samples 86. This results in each of thesamples in sets of n Code Samples 86 falling halfway between two of thesets of n Code Samples 80. As shown in FIG. 4 only k-1 sets of n CodeSamples 86 are required with k sets of n Code Samples 80.

[0133] Each of the sets of n Code Samples 84 are correlated with nSignal Samples 75 in exclusive OR correlators 74 as provided in FIG. 3to produce correlation products which are then summed by additionalsummers 84. As noted above, the dashed lines between each of the sets ofcode samples and summers 84 are used to indicate that the correlationproduct between that set of code samples and n Signal Samples 75 isapplied to a particular one of summers 84. As can then easily beunderstood from FIG. 4, correlation products separated from each otherby ¼ chip width delays, from the 0th delay to kth delay, are producedusing sets of ½ chip width delays and a single ¼ chip delay (which mayrepresent the offset delay between two channels) and after individualsummation are applied to threshold test 82 to determine which delayrepresents the currently prompt delay of satellite signals 72 from asatellite being reacquired by GPS car system module 26.

[0134] The second set of ½ chip delays may easily be implemented byhaving a second channel track the same satellite, offset, however by ¼chip width delay 79.

[0135] In this way, the range of delay within which a satellite signallock may be acquired, maintained and/or reacquired may be reduced from±½ chip width, to about ±¼ chip width, which permits faster pull in tolock, i.e. when the tracking has been optimized and range error reducedto minimum.

[0136] It is important to note the seamless integration of tracking andreacquisition provided by the present invention in that the samecorrelations are used for tracking and reacquisition and the relatedspeed of capture and lock and simplicity provided thereby. The abilityto rapidly reacquire within a capture window so that one of thecorrelations may immediately be used as a prompt correlation, speeds upall data acquisitions thereafter. It is also convenient to utilize afirst plurality of sets of n Code Samples 80 for tracking and, whensatellite signals 72 are lost, provide additional accuracy inreacquisition by using a second plurality of sets of n Code Samples suchas sets of n Code Samples 84. In particular, the same plurality of setsof n Code Samples 84 may be used for reacquisition of signals 72 fordifferent satellites at different times in order to reduce the totalnumber of components and steps required to produce all the necessarycorrelations and summations.

[0137] In operation, GPS car system module 26 continuously attempts totrack and reacquire the signals from satellite 19 in SatTRAK channel 38while satellite 19 is obscured from view. As car 10 passes throughintersection 22, the line of sight to satellite 19 is momentarily notobscured by buildings 21. Whenever any of the correlations performed inSatTRAK channel 38 indicate that the satellite signals are beingreceived with sufficient strength so that the correlation products fromsome of the correlators are above threshold, reacquisition isimmediately accomplished. Reacquisition occurs when the correlatoroutput indicating the largest magnitude is selected as the new promptcorrelator. Conventional techniques for improving the quality of thedata are then employed.

[0138] The data from satellite 19 is used to immediately, after asettling time for lock, update the GPS data and correct the currentlyknown position information derived therefrom. Even if satellite 19 isthen again immediately obscured, the update information derived duringtravel through the intersection by fast reacquisition provides asubstantial improvement in accuracy of the GPS determined position. Thiswill permit GPS car system module 26 to continue accurate navigationeven through otherwise very difficult areas, such as city streets.

[0139] Although the use of single satellite navigation data bycross-track hold and then updating a satellite data by detecting turnsand/or immediately reacquiring satellite signals in intersections haveall been described separately, they are also very useful in combination.Terrestrial navigation systems, using GPS receivers in a stand alonemode, aided by map displays and data bases and/or aided by externalsensors such as inertial navigation systems may benefit from the use ofcombinations of one or more such modes. In a preferred embodiment of thepresent invention, all three techniques are combined to maximize theability of the car navigation system to provide accurate and usefulnavigation data while traversing a difficult environment such as citystreets.

[0140] Referring now to FIG. 5, a preferred embodiment of the presentinvention is described in which major portions of SatTRAK channels 38,40, 42 and 44 and SatProcessor 46 of the present invention areimplemented in an Application Specific Integrated Circuit or ASIC 102.Many of the functions of a conventional satellite processor may still,however, be performed in software. The particular implementationdepicted provides a 12 channel GPS acquisition and tracking system withfast reacquisition capabilities as described above while substantiallyreducing the number of gates required on the ASIC to implement thissystem.

[0141] The signals received by GPS antenna 28 are digitized and form adigital composite of signals received from all satellites in view toproduce sample data 100 which is at a frequency of 37.33 f₀ where f₀ isthe chip rate of the C/A code applied to each GPS satellite. Forconvenience, the frequencies described below will be designated in termsof multiples of f₀. Each of 12 Space Vehicles (SVs) or satellites aretracked in ASIC 102 under the control of Central Processing Unit, orCPU, 101 which provides control signals and data to ASIC 102. Inparticular, CPU 101 provides data regarding the predicted Doppler shiftsand C/A code applied to each SV to Random Access Memory, or RAM, R1 103associated with ASIC 102 which provides the data to RAM R2 105 atdesignated times. RAM R2 105 provides data to and receives data fromASIC 102, permitting CPU 101 data updating and ASIC 102 processing ofold data to operate simultaneously. RAM R2 105 is used as a buffer byASIC 102 primarily to store intermediate values of signals duringprocessing. Other conventional portions of a micro-computer including aCPU are not shown but conveniently may include devices operatingsoftware implementing the single satellite, cross-track hold and othertechniques described above as well as other functions of SatProcessor46.

[0142] Sample data 100 is applied to C/A code acquisition, tracking andreacquisition block CACAPT 104 in ASIC 102 where it is split intoin-phase and quadrature-phase, or I and Q, signals at baseband by I/Qsplitter 106. After processing by CACAPT 104, the I,Q signals arerotated for Doppler shift in 12 channel Doppler Block 108 whichseparately compensates for the expected Doppler frequency shifts of eachof the 12 SVs which can be tracked.

[0143] The Doppler rotated I,Q signals for each SV are then applied toCorrelator Block 110 where each signal sample, which is from one of the12 SVs, is correlated in a multiplexed fashion with 20 delayed versionsof the C/A code, produced by 12 channel Coder Block 112, for that SV.During each segment of time, as described below with regard to FIG. 11in greater detail, Correlator Block 110 performs 240 C/A codecorrelations in accumulator 175 to enhance the speed of acquisition andreacquisition. The output of Correlator Block 110 is applied to IQACCUMBlock 114, and the output of IQACCUM Block 114 is applied to IQSQACCUM116, in Accumulator Block 115. IQACCUM Block 114 is convenientlyconfigured from another block of RAM associated with ASIC 102,identified herein as RAM 3. Similarly, IQSQACCUM 116 is convenientlyconfigured from another block of RAM associated with ASIC 102,identified herein as RAM 4.

[0144] Accumulator Block 115 operates in different fashions duringacquisition, tracking and reacquisition modes under the direction of CPU101. During acquisition mode, Coder Block 112 is caused to sequencethrough as many sets of 240 different codes delays as necessary toacquire the satellite signals from a particular space vehicle. That is,as many sets of 240 different delays are correlated in Correlator Block110 to provide IQSQACCUM 116 with an appropriate correlation outputwhose power indicates that correlation has been achieved with thatsatellite. The process is then repeated-for each satellite to beacquired. For convenience, all delays may be tested.

[0145] During reacquisition, a single set of 20 delays are correlated inCorrelator Block 110 to determine if one such delay provides a peakvalue above a predetermined threshold to indicate that a correlation hasbeen achieved and the satellite thereby reacquired. The reacquisitionmode operates transparently within the tracking mode in that a set of 20delays are correlated in Correlator Block 110. If tracking ismaintained, the peak signal may migrate from a particular delay to thenext adjacent delay but will be maintained within the current set of 20delays being correlated. It is convenient to consider the delayproducing the signal with the greatest magnitude as the prompt delay,producing the prompt correlation product. The signals produced by onemore and one less delay then become the early and late correlationproducts which may be processed in a conventional manner to maintainlock with each satellite.

[0146] If the signal from the satellite is temporarily obscured or lostfor any other reason, the then current set of 20 delays is correlatedand searched for a peak of sufficient magnitude to indicatereacquisition. The Doppler and code values are continuously updatedbased upon the last available position information including velocity,and the correlations are performed, until the satellite signal isreacquired or sufficient time has elapsed so that the satellite signalis considered lost.

[0147] The operation and configuration of ASIC 102 will now be describedin greater detail with regard to the in-phase or I signal path. Thequadrature phase or Q signal path is identical and need not beseparately described.

[0148] Within CACAPT 104, sample data 100 is applied at 37.33f₀ to I/Qsplitter 106 to produce a 2 bit signal at 18.67f₀ which is furtherreduced to 2f₀ by Digital Filter 118 which operates by adding sets of10, 9 and 9 samples which are summed, quantized, and then storedserially in 11 sample deep buffer 120. When 11 sample deep buffer 120 isfilled, the data is transferred in a parallel fashion to an identicalbuffer, called parallel block 122, for Doppler rotation. Data istherefore transferred out of 11 sample deep buffer 120 when 11 samplesare received, that is, at a chip rate of {fraction (1/11)}th of 2f₀ orapproximately 0.18f₀. 11 sample deep buffer 120 operates as a serial toparallel converter while parallel block 122 operates as a parallel toserial converter. This results in 186 parallel transfers per msec.

[0149] Data is shifted out of parallel block 122 at 24f₀ to 12 channelDoppler Block 108 so that the Least Significant Bit or LSB of the serialconverter, parallel block 122, is the output of CACAPT 104 in the formof CapIOut and CapQOut which are applied as CACAPT Data output 123 to 12channel Doppler Block 108. The increase in chip rate from 2f₀ to 24f₀provides an operating speed magnification of 12 as will be describedbelow in greater detail.

[0150] Referring now also to FIG. 6, 12 channel Doppler Block 108 is nowdescribed in greater detail. Doppler Block 108 receives satellitespecific CACAPT Data output 123 including CapIOut and CapQOut fromCACAPT 104 for storage in Doppler Register 124. Satellite or sourcespecific predicted Doppler phase, after processing by Carrier NumericalControl Oscillator or NCO 125 and sine/cosine look-up table 134, is alsoapplied to Doppler Register 124 where it is added to CapIOut and CapQOutfor the same SV (or other source) to form dopIOut and dopQOut. WithinDoppler Block 108, Carrier_NCO 125 operates at an effective rate of 2f₀for each satellite channel because the data sample rate is 2f₀.

[0151] For each SV, CPU 101 stores the satellite specific predictedcarrier phase dopPhaseParam, and predicted carrier frequencydopFreqParam, in RAM R2 105. Sat_Mem 186 then transfers thedopPhaseParam and dopFreqParam as shown in FIG. 9 to Carrier PhaseRegister 126 and Carrier Phase Output Buffer 128, respectively, at each1 msec boundary. In the drawings, the number of the first and last bitof the signal is provided in parenthesis, separated by a full colon, inaccordance with current conventions. Therefore, dopFreqParam is a 24 bitdigital value, the MSB of which is bit number 23 and the LSB of which isbit number 0. Adder 130 adds carrier phase to carrier frequency, derivedfrom dopPhaseParam and dopFreqParam, to produce the current carrierphase value in Carrier Phase Register 126 shown as Carrier_NCO.

[0152] The four Most Significant Bits or MSBs of Carrier_NCO in CarrierPhase Register 126 are applied to sine/cosine look-up table 134 whichincludes 2 4-bit registers for storing its output. The output ofsine/cosine look-up table 134 is applied to Doppler Multiplier 132 inDoppler Register 124 for Doppler rotation of CACAPT Data output 123(CapIOut and CapQOut) to produce rotated SV output signals dopIOut anddopQOut. Doppler Register 124 uses Doppler Multiplier 132, as well asfour 4-bit registers, two adders, another pair of 5-bit registers and aquantizer to form dopIOut and dopQOut. Referring for a moment to FIG.11, dopIOut and dopQOut are applied to parallel converter 166 androtated SV output signal 127 is the output of serial to parallelconverter 166 which is applied directly to 11 bit Holding Register 140.

[0153] During each segment of time, the beginning value for the Dopplerphase of each SV is stored in RAM R2 105, retrieved therefrom by DopplerBlock 108 for the rotation of the SV during that segment. At the end ofeach segment, the end value of Doppler phase is stored in RAM R2 105 foruse as the beginning value for the next segment. Under the control ofgpsCTl 182, Doppler phase value dopP_Next in Carrier Phase Output Buffer128, saved at the end of each rotation for a particular SV by dopSave,is applied to Sat_Mem 186 for storage in RAM R2 105 for that SV, to beretrieved by Doppler Block 108 again during the next Doppler rotation ofthat SV in the following segment. The operation of Multiplexer Block 129may be best understood from the description of the triple multiplexingof ASIC 102 associated with FIGS. 10 and 11.

[0154] Referring now also to FIG. 7, 12 channel Coder Block 112 includesCoder_NCO 136 and Code Generator 138. Coder_NCO 136, which is similar toCarrier_NCO 125 shown in FIG. 6, creates Gen_Enable whenever PhaseAccumulator 148 overflows. Gen_Enable is the MSB of the output of PhaseAccumulator 148 and is applied to Code Generator 138.

[0155] In particular, under the control of gpsCTl 182, Sat_Mem 186applies the satellite specific 24 bit code frequency parameter,coderFreqParam, and the 24 bit satellite specific code phase parameter,codePhaseParam, at each 1 msec edge to Coder_NCO 136 from RAM R2 105.CoderFreqParam is added to codePhaseParam effectively at 4f₀ per channelin Phase Adder 150 even though codePhaseParam operates at 48f₀ duringtracking and reacquisition. A pulse can be generated for Gen_Enablebetween 0 Hz and 4f₀ Hz. In order to generate Gen_Enable at 2f₀, thevalue of half the bits (23:0) of Phase Accumulator 148 must be loaded inas coderFreqParam.

[0156] The LSB of codePhaseParam represents {fraction (1/256)}th of aC/A code chip. CodePhaseParam initializes the contents of PhaseAccumulator 148. Gen_Enable is generated whenever Phase Accumulator 148overflows. Phase Accumulator 148 is a 25 bit register initialized by thevalue of codePhaseParam when corHoldRegLoad 152 from CPU 101 is activeat each 1 msec edge when new data is written from CPU 101. The 24 LSBsof 25-bit Phase Accumulator 148 are then added to coderFreqParam inPhase Adder 150 and returned to Phase Accumulator 148. Phase BufferRegister 154 stores and buffers the contents of Phase Accumulator 148,to produce CoderPNext which is updated whenever codCodeSave 158 fromgpsCtl 182 is active. CoderPNext is applied to Sat_Mem 186 for storagein RAM R2 105. The operation of multiplexer 142 may be best understoodfrom the description below of the triple multiplexing of ASIC 102provided with FIGS. 10 and 11.

[0157] Gen_Enable is applied to Code Generator 138 to cause a new codeto be generated. C/A Codes parameters G1 and G2 are parallel loaded fromRAM R2 105 by Sat_Mem 186 as g1ParIn and g2ParIn into Code Generator 138to produce g1GenOut and g2GenOut which are returned to RAM R2 105 bySat_Mem 186. The bit-0 of both G1 and G2 generators in Code Generator138 are internally XOR=d and generate genSerOut 160 which is seriallyapplied to 11 bit Code Shift Register 170 in Correlator Block 110, asshown in FIG. 5. Code Generator 138 generates the following C/A codes:

G1=1+X3+X10

G2=1+X2+X3+X6+X8+X9+X10.

[0158] The output of Code Shift Register 170 is applied to correlators74, 11 bits at a time at 48f₀ so that at least 20 code delays, separatedby one half chip width, are correlated against each Doppler rotatedsample from each SV. The increase in chip rate from 2f₀ to 48f₀ providesa magnification factor of 24 as will be described below in greaterdetail.

[0159] Values of G1 and G2 are be stored in RAM R2 105 during eachsegment after correlation with the Doppler rotated sample in correlators74 for that SV so that they may then be retrieved by Coder Block 112during the next time segment for correlation of the next 11 bit samplefrom the same SV.

[0160] Referring now also to FIG. 8, Correlator Block 110 is shown ingreater detail. DopIOut and dopQOut in the rotated SV output fromDoppler Block 108 are applied to serial to parallel converter 166 whichis then parallel loaded to Holding Register 140. GenSerOut 160 fromCoder Block 112 is applied to Code Shift Register 170 in CorrelatorBlock 110. These data sets represent the Doppler shifted data receivedfrom the SV, as well as the locally generated code for that SV, and areapplied to Exclusive NOR gate correlator 74 for correlation undercontrol of gpsCtl 182.

[0161] The output of correlator 74 is applied to Adder 174 and combinedin Bit Combiner 176 to corIOut 178 and corQOut 180 which are applied toIQACCUM Block 114 and IQSQACCUM 116 shown in FIG. 5. Adder 174 and BitCombiner 176 operate as a partial accumulator as indicated byaccumulator 175 in FIG. 5.

[0162] Referring now also to FIG. 9, on overview of the operation ofASIC 102 is shown. A dedicated set of on-chip logic controls theoperation of ASIC 102 and is identified herein as gpsctl 182. Inparticular, under the control of gpsctl 182, sample data 100 from theGPS satellites is applied to CACAPT 104 where it is separated anddecimated into I and Q data streams to form CACAPT Data output 123. SVdata 123 is rotated for the predicted Doppler shift of each SV toproduce rotated SV output signals dopIOut and dopQOut which arecorrelated with genSerOut 160 from Coder Block 112 in correlators 74.CorIOut 178 and corQOut 180 from correlators 74 are accumulated inIQACCUM Block 114 and IQSQACCUM 116 to produce output 184 to CPU 101.

[0163] As will be further described below in greater detail, a portionof memory is used for Sat_Mem 186 which stores and provides the Dopplershift and code information required during multiplexing.

[0164] In operation, every millisecond is divided into 186 segments,each of which includes 264 clocks. Within these 264 clocks, 12 channelsare processed with each channel taking 22 clocks to compute 22 differentcorrelations or delays. Only 20 of these 22 correlations are stored andused for subsequent processing. For each channel, gpsCtl 182 controlsthe loading of Carrier_NCO 125 in Doppler Block 108 using dopLoad anddopSave. Similarly, gpsctl 182 controls the loading of Coder_NCO 136 inCoder Block 112 via corHoldRegLoad and corCodeSave. The flow of datathrough Correlator Block 110 is controlled with serialShiftClk, and alsocorHoldRegLoad and codCodeSave. Control signals are applied to IQACCUMBlock 114 and IQSQACCUM 116 for each channel and include startsegment,startChan, resetAcc, peak, iqsq, wrchan, ShiftSelIqSq and acq_mode.Within each segment, gpsCtl 182 provides the periodic signalseng_capShiftClk, capLoad, syncpulse, serialShiftClk to CACAPT 104 torepackage incoming satellite data samples into groups of 11 half chipsamples.

[0165] All accesses initiated by gpsCtl 182 are processed by Sat_Mem 186to generate read/write control and address signals for RAM R1 103 andRAM R2 105. GpsCtl 182 controls the flow of data through all data pathstogether with Sat_Mem 186 and manages the access of channel parametersstored in RAM R1 103 and RAM R2 105. RAM R1 103 is written to by theuser to define the channel parameters that will be loaded to RAM R2 105at the end of the corresponding integration or accumulation time. RAM R2105 is used by the data path as a scratchpad to store the intermediatevalues of the various channel parameters during processing.

[0166] Data read out of RAM R2 105 is sent to the various parameterregisters in Doppler Block 108, Coder Block 112, Correlator Block 110and gpsCtl 182 under the control of Sat_Mem 186. Data from these blocksand RAM1 190 are multiplexed at the input to the write port of RAM R2105. RAM R1 103 is a 16×108 asynchronous dual port ram used for theparameters for all 12 channels while RAM2 192 is another 16×108asynchronous dual port ram used for storing intermediate values of thesatellite parameters during processing, while switching from one channelto the next.

[0167] Referring now to FIG. 10, the system of the present inventionincludes a multiplexed data path in order to reduce the size andcomplexity of ASIC 102 on which the majority of the parts of the systemcan be provided. Conventional receiver designs have multiplexed a singleset of correlators for use for each of the separate channels in which anSV is tracked in order to reduce the number of correlators required. Theuse of the system of the present invention reduces the million or moregates that would be required-for a conventional configuration down to amanageable number, on the order of about less than 100,000.

[0168] In accordance with the present invention, in addition tomultiplexing the satellite channels in a manner in which no data islost, the code delay correlations are also multiplexed. That is,conventional receivers use two or three correlators to provide early,late and/or prompt correlations for each SV. The present inventionmultiplexes a plurality of code delays in order to provide far more codedelay correlations than have been available in conventional systemswithout substantially multiplying the hardware, or chip area on ASIC 102required by the number of gates used.

[0169] The multiplexing of code delays permits the wide capture windowdescribed above with regard to FIGS. 3 and 4 that permits rapid SVreacquisition. In particular, 20 delays such as ½ chip delays areprovided and constantly monitored for each SV so that GPS data can beacquired even during brief glimpses of the SV, for example, when car 10is in intersection 22 as shown in FIG. 1. The SV can be reacquired anduseful data obtained because the modeling of the vehicle's position onroadway 12 is sufficiently accurate to keep the predicted code andDoppler values for a previous acquired and currently obscured SV withina window of ±10 half chip code delays. In this way, data obtained duringreacquisition can be used directly as GPS data. That is, thereacquisition mode is transparent to the tracking mode. The GPS data isacquired whenever available without substantial lost time forreacquisition.

[0170] Further, the operation of satellite tracking is itselfmultiplexed for each set of data for all 12 channels in order to furthersubstantially reduce the ASIC gate count. That is, only a small portionof the bits in the C/A code is processed at one time for all 12 SVs. Inorder to digitally process the signals received, the digitalrepresentations of these signals must be processed in registers andbuffers capable of storing the digital data. The C/A code contains 1023bits in each repetition which lasts 1 msec. If all 1023 bits were to beprocessed at once, registers 1023 bits wide would be required. Suchregisters would be expensive in cost and gate count and quitecumbersome. In accordance with the third level of multiplexing used inthe triply multiplexed receiver configuration of the present invention,a smaller register is multiplexed to handle different portions of the1023 bits of the C/A code. This means the smaller register is used manytimes during each 1 msec repetition of the C/A code to process enoughsmaller samples of the data received so that within each msec all 1023bits can be processed.

[0171] In the preferred embodiment described above particularly in FIGS.3 to 9, a configuration using 11 bits registers was used so that eachregister is used 186 times per msec to process all 1023 bits of a C/Acode repetition. Each {fraction (1/186)}th of a msec is called asegment. The tracking of each SV is therefore multiplexed 186 times byprocessing the 11 bits in each register during each segment. Inaddition, in the preferred embodiment, 12 channels are used to track amaximum of 12 SVs. This requires that each 11 bit segment is multiplexed12 times during that segment to apply a Doppler rotation for each SV.

[0172] Further, each channel is further multiplexed by a factor of 22 toprovide a substantial plurality of different code delays. This requiresthat the Doppler rotated sample for each SV is correlated 22 times withdifferent C/A Code delays before the Doppler rotated sample for the nextchannel is produced. In this manner, 22 different code phases may betested for each of 12 SV during each of 186 segments to provide realtime data with only 11 bit wide registers by processing each register186 times per msec.

[0173] It is important to note that the processing of the presentinvention occurs during a particular segment, i.e. a {fraction(1/186)}th of a repetition of the C/A code, during the length of timerequired for the segment to be collected. In this optimized manner, nodata is lost during tracking or reacquisition or switching between thesestates because the data being processed in any particular segment is atmost 11 half chips delays old.

[0174] Referring now to FIGS. 10 and 11, the output of Digital Filter118 shown in FIG. 5 is sample data stream 119 at 2f₀. The chip rate ofthe C/A modulation of the signals 100 from the SVs is at f₀. In order toavoid loss of any data, the SV signals must be sampled at least at theirNyquist rate, that is, at twice the chip rate of the modulation ofinterest which is 2f₀. Although sample data stream 119 can be operatedat a higher chip rate than the Nyquist rate, which is twice the chiprate, there is no advantage in doing so.

[0175] Sample data stream 119 is therefore a series of samples of thedigitized and filtered SV data at twice the chip rate of the C/A code,that is, each sample in sample data stream 119 has a width equal to onehalf of a C/A code chip. The number of bits in each msec or cycle ofcode in sample data stream 119 is twice the number of bits in themodulation, i.e. 2046 bits each representing one half of a C/A codechip. In accordance with the multiplexing scheme of the preferredembodiment being disclosed, the data is processed in 11 bit segments,and sample data stream 119 is therefore applied serially to 11 bit(10:0) register value buffer 120. The time required to serially store 11bits out of a total of 2046 bits in the 2f₀ data stream is1÷(2046÷11=186) or {fraction (1/186)}th of a msec.

[0176] During the time the first set of 11 sample bits are being storedin 11 sample deep buffer 120, no bits are available for processing.After the first 11 sample bits are serially received and seriallystored, the 11 sample bits are transferred in parallel to parallel block122. This parallel operation therefore occurs every {fraction (1/186)}thof a msec or at a rate of approximately 0.18f₀. Each {fraction(1/186)}th of a msec is called a time segment or segment and is the unitof processing for most of the operations. The 1023 chip C/A code of eachof the satellites in the composite signal received is processed in 11half chip bits. Dividing the msec repetition rate of the C/A code into186 time segments multiplexes each of the 11 bit registers by amultiplexing factor of 186.

[0177] CACAPT Data output 123 from parallel block 122 is processed inDoppler Block 108 at a much faster chip rate, for example at 24f₀. Thatis, the 11 bits of sample data in each segment of time is multiplexed bya factor of 12 to permit 12 different operations to be performed to thatset of 11 bits of data. In particular, in Doppler Block 108, CapIOut andCapQout of CACAPT Data output 123 are multiplied in Doppler Register 124by twelve different Doppler shifts so that within each segment twelvedifferent Doppler rotations are performed.

[0178] Each different Doppler shift represents the predicted Dopplerrotation required for each of the maximum of 12 different SVs that canbe tracked. The increase in processing chip rate from 2f₀ to 24f₀multiplexes the processing for each of 12 channels of data. It isimportant to note that the multiplexing to permit one channel to operateas 12 multiplexed or virtual channels each representing a different SVis applied only after the input signals are multiplexed, that is, brokeninto 186 time segments each including 11 half chip width bits. In thisway, the multiplexing for 12 channels or satellites is easilyaccomplished with relatively inexpensive 11 bit registers without lossof time or data. The selection of the number of sampling to be aninteger division of the number of code bits per period is important toachieve these goals. Multiplexer Block 129 in Carrier_NCO 125 controlsthe timing of this multiplexing under the direction of gpsCtl 182.

[0179] The output of Doppler Block 108, signals dopIOut and dopQOut, areapplied to serial to parallel converter 166 within Correlator Block 110.Each rotated SV output signal 127 represents the rotated signal from asingle SV and 12 such rotated SV output signals 127 are produced in eachsegment of time.

[0180] Rotated SV output signal 127 is loaded in parallel fashion intoHolding Register 140 in Correlator Block 110. The input to Exclusive NORgate correlator 74 is therefore an 11 bit wide signal which is retainedfor {fraction (1/12)}th of a time segment as one input to Exclusive NORgate correlator 74.

[0181] Correlator 74 is a series of 11 separate one bit correlatorswhich all operate in parallel. One input is rotated SV output signal 127while the other 11 bit input is provided by 11 one bit genSerOut 160output bits from Coder Block 112. During the {fraction (1/12)} of a timesegment provided for operation on the rotated SV output signal 127 for aparticular satellite, the code for that SV is produced serially by CodeGenerator 138 and applied to Code Shift Register 170.

[0182] At the beginning of the correlation for a particular channel, 11bits of the code for that SV have been shifted into Code Shift Register170 and are available therein for correlation. Every {fraction (1/22)}ndof a channel (that is, a {fraction (1/12)} of a segment) each of the 11bits in Code Shift Register 170 are correlated in one of 11 one bitexclusive Nor gates in Exclusive NOR gate correlator 74. This produces11 correlator output bits, the sum of which indicates the magnitude ofthe correlation between the rotated SV output signal 127 and that codephase. These 11 correlation sums produced in parallel are summed inparallel and stored in the first of 22 summers related to that SV inAccumulator Block 115.

[0183] During the next or second {fraction (1/22)}nd of a channel, CodeGenerator 138 produces the next bit for the C/A code for that SV. Thisnext bit is applied serially to Code Shift Register 170. At this time,10 bits from the first correlation remain in Code Shift Register 170 andtogether with the newest bit form another 11 bit sample of the expectedcode for that SV, delayed from the previous 11 bit sample by the timerequired to generate 1 bit, that is, one half chip width at the ratecode is produced, 48f₀. The second sample is therefore a one half chipdelayed version of the code, delayed one half chip width from theprevious 11 bit samples. It is important to note that the two 11 bitcode samples just described differ only in that a new bit was shifted inat one end of the register to shift out the MSB at the other end of theregister.

[0184] The 11 bit correlation product of the same rotated SV outputsignal 127 and the second 11 bit sample of code is then stored in thesecond of the 22 summers related to that SV in Accumulator Block 115.Thereafter, the remaining 20 serial shifts of the genSerOut 160 fromCode Generator 138 are correlated against the same rotated SV outputsignal 127 to produce 20 more sums of 11 bit correlations for storage inAccumulator Block 115 for that SV. The result is that 22 values are thenavailable within Accumulator Block 115 for processing, each value is ameasure of the correlation of the signals from one SV with 22 differentcode phases or delays, each separated by one half chip width.

[0185] During the next {fraction (1/12)} of a time segment, that is,during the processing of the second multiplexed channel, the rotated SVoutput signal 127 for the next SV, is applied to Holding Register 140for correlation with 22 different one half chip delays of the codegenerated for that satellite. At the end of a segment, Accumulator Block115 includes a matrix of 12 by 20 different sums. In one implementationof the present inventions it has been found to be convenient to saveonly 20 out of the 22 possible code delay correlation results. The 12rows of 20 sums represent the measure of correlation for each of the 12SVs at 20 code phases or delays.

[0186] In summary, the data path for the present invention is triplymultiplexed in that

[0187] (a) each msec, which represents 1023 bits of C/A code, is slicedinto 186 to form the 186 segments in a msec of sample so that only 11half chip wide sample bits are processed at one time;

[0188] (b) each segment is then multiplexed by 12 so that each such 11bit sample is rotated for twelve different sources;

[0189] (c) the rotated 11 bit sample for each source is correlatedagainst 20 sets of different code delays for that source to multiplexwithin each channel by 20; and

[0190] (d) the sum of the correlation products for each delay in eachchannel are then summed to produce the accumulated correlation output.

[0191] Although 22 different delays are available, it is convenient touse 20 such delays, or code phase theories for testing the rotatedsatellite signal. The correlation product having the greatest magnitudefor each channel after accumulation, that is, the largest of the 20 sumsof 11 bits stored in Accumulator Block 115 for each channel may then bedetected by its magnitude, for example by a peak detector, to determinewhich delay theory is the most accurate. The peak sum represents theon-time or prompt correlation for that SV.

[0192] Turning now specifically to FIG. 11, the triple multiplexingscheme of the present invention may easily be understood by looking atthe slices of time resulting from each of the multiplexing operations.Within each msec, the C/A code for each particular satellite has 1023bits. In order to preserve all necessary information, the satellitesignals are sampled, in a digital composite of signals from allsatellites, at the Nyquist rate at 2f₀ to produce 2046 half chip widesample bits.

[0193] Each sequential set of eleven sample bits are processed togetheras a segment of time, the length of which is equal to 1/(2046÷11) of amsec, i.e. one {fraction (1/186)}th of a msec. After processing of the186th segment in a msec all necessary data has been extracted and the 11bit sample for the next segment is available. Although the partial sumsaccumulated over each msec in Accumulator Block 115 may only beevaluated at the end of a msec, no data is lost and the results are only1 segment late. That is, since it takes 1 segment to fill 11 sample deepbuffer 120 and transfer the 11 bit sample to parallel block 122, thedata from the first 11 bit sample is being processed while the data forthe second 11 bit sample is being collected. Even if the system operatedfor a year, the sampled being processed to provide position informationis still only one time segment old.

[0194] The 11 bits of each segment are multiplexed for each SV by beingtime division multiplexed during Doppler rotation. That is, the 11 bitsample of segment 1 is used to provide 12 different Doppler shiftedoutputs so that a single 11 bit segment sample is used 12 times toproduce 12 different satellite specific Doppler rotated versions,assuming all 12 satellites are in view or being modeled. The operationsfor one channel then require one twelfth of a segment. It is critical tonote that each segment only produces a partial result and that the 12partial results during each segment must be summed at the end of eachmsec to provide valid output data.

[0195] Each of the operations on one particular channel in a segment aretime division multiplexed by a factor of 22 so that 22 different codedelays for that partial sum for that satellite can be tested. The peaksum of these 22 correlations can however be detected by magnitudeimmediately if necessary to select the most likely delay for thatchannel. In the present embodiment, the information for that channel isonly valid once per msec when summed or accumulated so that there maynot be a substantial advantage in peak detected with a particularsegment. In some GPS applications and in other spread spectrumapplications, such as wireless communications, it may be desirable ifstrong signals are present to accumulate and transfer the sum of theaccumulations for each source from R3 to R4 more often than once percode repetition rate. The time required to evaluate a particular codephase delay or theory is only {fraction (1/22)}nd of the time requiredper channel per segment or {fraction (1/22)}nd of {fraction (1/12)} of{fraction (1/186)}th of a msec. This speed of operation is more easilyachieved because the 11 one bit correlations required are produced inparallel. Similarly, the speed of generation of the different codedelays for a particular SV is more easily accomplished in accordancewith the present invention because each 11 bit code delay sample isautomatically produced when each single new bit, i.e. each new genSerOut160, is shifted into Code Shift Register 170.

[0196] The selection of the magnitudes or multiplexing factors used ineach level of multiplexing is not arbitrary. The larger the number ofsegments, the smaller the required size or depth of the registers needfor each sample. By using a code repetition multiplexing factor of 186,that is, by dividing the 2046 bits of a 2f₀ by 186, only 11 sample bit,need to be evaluated at a time.

[0197] The number of required channels is bounded pragmatically by thefact that at least 4 SVs must be in view at the same time to determineposition accurately in three dimensions. Time is the fourth unknownwhich must be determined along with each of the three dimensionsalthough provisions for estimating, modeling and/or updating theposition information as described above so that position information maybe accurately provided even during periods when less than 4 satellitesare concurrently in view.

[0198] The constellation of 24 NAVSTAR satellites in use are arranged tocover the earth so that a maximum of 12 such satellites may be in viewat any one location at any particular time. The maximum number ofpragmatically useful channels is, for this reason, no less than about 12channels. The selected channel multiplexing factor used in the channellevel of multiplexing in the embodiment shown herein is therefore afactor of 12.

[0199] The number of different code delays is bounded at the low end byan absolute minimum of 1 so that if the exact delay can somehow bemaintained, the only necessary correlation would be the on-time orprompt correlation. Conventional GPS receiver systems use at least 2 or3 different code delays so that conventional tracking techniques, forexample those which use early, prompt and late correlations to centerthe prompt correlation within ±1 delay, may be employed.

[0200] In accordance with the present invention, a substantially greaternumber of different code delays, or delay theories, are tested so thatfast reacquisition may be accomplished as described above with regard toFIGS. 3 and 4. Although for the particular preferred embodimentdescribed herein, it was determined that a total of 20 different delays,each separated in time by one half the width of a C/A code chip, i.e. ½of {fraction (1/2046)} of one msec, a code delay multiplexing factor of22 was selected because the relationship between each of the 3multiplexing factors is also important.

[0201] The product of the three multiplexing factors, code repetitionmultiplexing factor, channel multiplexing factor and code delaymultiplexing factor should optimally be an even integer multiple of thenumber of bits in each repetition of the spread spectrum modulation. Aneven integer multiple is required because samples must be taken at twicethe chip rate, i.e. at the Nyquist rate, in order to avoid data lossfrom sampling at a slower rate. Although multiplexing factors can beused successfully even if the product is not exactly equal to an eveninteger multiple, data loss or unnecessary complexity and costs mayresult.

[0202] In the particular embodiment shown, the spread spectrum code ofinterest is the C/A code, each repetition of which includes 1023 bits.In accordance with the triple multiplexing product rule discussed above,the product of the three multiplexing factors must equal an even integermultiple of 1023, such as 2046. In the described embodiment, the coderepetition multiplexing factor is 186, the channel multiplexing factoris 12 and the code delay multiplexing factor is 22. The product of 186multiplied by 12 and then by 22 is 49104 which, when divided by 1023,equals 48. 48 is an even integer and therefore the particular set ofmultiplexing factors used in the present invention provides one ofseveral optimized systems.

[0203] The reason this multiplexing factor product rule works well in atri-level multiplexing configuration for C/A code is that there arethree prime factors in 1023. That is, 1023 is the product of three primenumbers, 31, 11 and 3. Each of the three multiplexing factors is evenlydivisible by one of these prime numbers. For example, 186 is divisibleby 31 six times, 12 is divisible by 3 four times and 22 is divisible by11 twice.

[0204] Using each prime factor of the number of bits in the sampled bitrate in one of the multiplexing factors yields two or more differentfamilies of multiplexing configurations for C/A code spread spectrumreceivers. In the first family, if 11 channels are desired, then eitherthe code repetition multiplexing factor or the channel multiplexingfactor would have to be divisible by 31. Although it may be desirable incertain applications to use 31 or 62 different code delays, there is asubstantial advantage in making the code repetition multiplexing factoras large as possible. This reduces the number of bits required to besaved and processed in each segment. By selecting the code repetitionmultiplexing factor to be a multiple of 31, the number of delaysactually used can be more easily controlled because the code delaymultiplexing factor could be any multiple of 3.

[0205] In the other convenient family, 6, 9, 12, 15 or 18 satellitechannels are desired so that the channel multiplexing factor is anintegral multiple of 3. This permits the code delay multiplexing factorto be a factor of 11 while the code repetition multiplexing factor is afactor of 31. The particular embodiment described in the specificationabove is in this family.

[0206] Another constraint on the selection of multiplexing factors isthe speed of operation of the lowest level of multiplexing. In theembodiment disclosed, the third level of multiplexing operates at 48f₀.The clock speed of the hardware implementation must be sufficient topermit operation at this speed. As faster and faster on chip componentsare developed, higher clock speeds may be used to accomplish the highestspeed processing and larger multiples may be used. For example, withcomponents in the high speed processing sections such as CorrelatorBlock 110 capable of operation at higher rates at multiples of f₀, suchas at 96f₀, the code repetition multiplexing factor could be doubled toproduce 24 channels with 20 delays or taps or 12 channels with 40 delaysor taps or 11 channels with 6 bits and 22 taps.

[0207] The system configuration may also be viewed from the standpointof a time or speed magnification. Operation at the third multiplexinglevel at 48f₀ is 24 times faster than the chip rate of the 2f₀ samplebeing processed. This amplification factor of 24 permits a hardwaremultiplexing or gate compression factor of 24. The number of gates onASIC 102, or other devices for implementation the present invention, isreduced essentially in direct proportion to the magnification factor.All other factors being equal, the surface area of a chip operated at48f₀ is on the order of {fraction (1/24)}th of the surface area thatwould be required to operate at 2f₀. Similarly, an increase in themagnification factor to 96 would permit a reduction in the required chipsurface real estate required on the order of almost half.

[0208] The particular embodiment of the multiple level multiplexingspread spectrum receiver of the present invention which has beendisclosed above is a GPS receiver. The same invention can be used forother spread spectrum signals such as wireless telephone signals withdue consideration for the selections of multiplexing factors based onthe bit rate of the spread spectrum code used and the environmentalfactors applicable to that application. The environmental factors forthe present configuration, such as the pragmatic constraints on thenumber of channels and code phases, have been described above.

[0209] Referring now to FIG. 12, a block diagram overview of a GPSreceiver system 200 including a preferred embodiment of the digitalsignal processing chip 102 described above, ASIC GSP1 202, and a radiofrequency chip, GRF1 204, combined with other components to form acomplete receiver system according to the present invention.

[0210] Associated with ASIC GSP1 202 are SRAM 206, ROM 208 and CPU 101,interconnected by data and address busses 210 and 212 to provide thefunctions of RAM R1 103, RAM R2 105 and Sat_Mem 186 and other requiredfunctions described above with regard, for example, to FIG. 5.

[0211] GRF1 204 is including within RF processing subsystem 214 whichreceived satellite signals from GPS antenna 28 and provides sample orGPS data 100 to ASIC GSP1 202 which returns an automatic RF gain controlsignal, AGC 216, back to GRF1 204. Associated with GRF1 204 in RFprocessing subsystem 214 are RF filter 218 which applies the signalsfrom GPS antenna 28 to low noise amplifier LNA 220 to output of which isapplied to GRF1 204. In addition, GRF1 204 uses an outboard filter, IFFILTER 222 as well as crystal 224. It is important to note that IFFILTER 222 may be a low cost, external 2-pole LC(inductance-capacitance) type intermediate or IF filter, rather than amore expensive and complex 5 or 6 pole filter for the following reasons.GPS receiver system 200 uses a relatively wide IF band followed by adecimator or digital filter, Digital Filter 118, as shown for example inCACAPT 104 in FIG. 5.

[0212] In particular, the output of LNA 220 is processed by GRF1 204using IF FILTER 222 to produce GPS data 100 which is applied to CACAPT104 in ASIC GSP1 202. Within ASIC GSP1 202, GPS data 100 is separatedinto in phase and quadrature phase I and Q signals in I/Q splitter 106.The I signals are then applied to Digital Filter 118 and the Q signalsare processed in the same manner as shown in FIG. 5 and described above.

[0213]FIG. 13 is a block diagram description of GRF1 204 and FIG. 14 isa pin out of GRF1 204. FIG. 15 is a timing diagram of the AGC interface.FIG. 16 provides additional details of a preferred embodiment of GPSreceiver system 200, specifically the interconnections between ASIC GSP1202 and GRF1 204 as well as the associated circuitry.

[0214] Referring now to FIGS. 13 through 16, the SiRFstar™ embodiment ofGPS receiver system 200 may be described as follows: $ Front End forSiRFstar Architecture $ Cost Effective MMIC Integration SnapLock ™ 100ms On-Chip VCO and Reference Reacquisition Oscillator SingleSat ™Navigation Low Cost External 2-Pole LC IF Minimum Startup Time FilterSingle-Stage L1 to IF Downconversion External 25 ppm Reference Crystal $Seamless Interface $ On-Chip 2-Bit A/D Direct-Connect to GSP1 ImprovedWeak Signal Tracking Standard 3 or 5 V Supply Improved Jam ImmunityCompatible with Standard Active Antennas

[0215] The SiRFstar GPS Architecture is designed to meet the demandingneeds of mainstream consumer GPS products. The combination of theSiRFstar GSP1 signal processing engine, the SiRFstar GRF1 RF front-endand SiRFstar GSWl software provides a powerful, cost effective GPSsolution for a wide variety of products. SiRFstar-unique 100 ms SnapLockcapabilities combined with the 12 channel all-in-view tracking providesmaximum availability of GPS satellite measurements. The SingleSatnavigation mode is able to use these measurements to produce GPSposition updates even in the harshest, limited visibility urban canyons.Dual multipath rejection scheme improves position accuracy in thesecanyons. True 2-bit signal processing enables FoliageLock™ mode toacquire and track at lower signal levels for operation even under densefoliage.

[0216] The high performance firmware that accompanies the chipset takesfull advantage of the SiRFstar hardware capabilities to provide acomplete solution to our customers. The software is modular in designand portable across various processors and operating systems to allowfast time to market and maximum flexibility of design decisions foradding GPS capability to any product.

[0217] Chip Description

[0218] The GRF1 is a complete front-end frequency converter for GlobalPositioning System (GPS) receivers. The state-of-the-art design combinesa Low Noise Amplifier (LNA), mixer, 1527.68 MHz Phase Locked Loop (PLL)synthesizer, on-chip frequency reference, IF stage with AGC, 2-bit A/Dconverter and control logic to perform the conversion from RF to digitaloutputs. The GRF1 receives the 1575.42 MHz signal transmitted by GPSsatellites and converts the signal to 47.74 MHz PECL level complementarydigital signals which can be processed by the GSP1 signal processorchip. The 2-bit interface provides superior tracking performance withweak and attenuated signal as well as improved jam immunity. TABLE 1 PinIdentification Pin Name 1 IF Input 2 {overscore (IF)} Input 3 {overscore(MIX)} Output 4 MIX Output 5 Vsa (LNA) 6 {overscore (RF)} Input 7 RFInput 8 Vcc (LNA) 9 Vcc (VCO) 10 Vee (VCO) 11 Vee (CHP) 12 CPFB 13 CPSUM14 CPOUT 15 Vcc (CHP) 16 Vcc (Digital) 17 {overscore (SIGN)} 18 SIGN 19{overscore (MAG)} 20 MAG 21 {overscore (ACQCLK)} 22 ACQCLK 23 {overscore(GPSCLK)} 24 GPSCLK 25 REFIN 26 BYPASS 27 REFOUT 28 AGCSTRB 29 AGCDATA30 AGCCLK 31 Vee (Digital) 32 Vco (IF)

[0219] TABLE 2 PIN DESCRIPTION GRF1 Signal Description Pin No. SymbolType Description 1, 2 IF, {overscore (IF)} Inputs Differential IFinputs: balanced inputs to the IF stage; a filter should be placedbetween these inputs and the mixer outputs. DC bias to the positivesupply must be applied to these pins. 3, 4 {overscore (MIX)}, MIXOutputs Differential IF Outputs; balanced outputs of the LNA/Mixerstage, a filter should be placed between these outputs and the IFinputs. DO bias to the positive supply must be applied to these pins. 5VEE (LNA) Input LNA/Mixer ground pin. 6, 7 {overscore (RF)}, RF InputsDifferential LNA inputs. For best performance a balun should be used.Decouping should be to ground. 8 VCCLNA Input Postive supply input forLNA/Mixer block. Decoupling to ground via 0.01 μF or larger capacitorsshould be provided. 9 VCCVCO Input Postive supply input for VCO block.Decoupling to ground via 0.01 μF or larger capacitors should beprovided. 10 VEEVCO Input VCO ground pin. 11 VEECHP Input Charge pumpground pin. 12 CPFB Input Charge pump feedback I/O pin. 13 CPSUM InputSumming input for the charge pump. 14 CPOUT Output Charge pump output.15 VCCCHP Input Positive supply input for charge pump. Decoupling toground via 0.01 μF or larger capacitors should be provided. 16 VCCDIGOutputs Positive supply input for Digital circuitry. For properoperation the digital and analog supplies should be provided by the sameregulator. Decoupling to ground via 0.01 μF or larger capacitors shouldbe provided. 17, 18 {overscore (SIGN)}, SIGN Outputs Differential SIGNbit Outputs. These outputs are PECL compatible. 19, 20 {overscore(MAG)}, MAG Outputs Differential MAGNITUDE bit Outputs. The magnitudebit is designed to produce a HIGH when the input level at the A/D is >+/− 50 mV. These outputs are PECL compatible. 21, 22 {overscore(ACQCLK)}, Ouputs Differential Acquisiton clock ACQCLK outputs. Theseoutputs are PECL compatible. 23, 24 {overscore (GSPCLK)}, OutputsDifferential x2 reference clock GSPCLK outputs. These outputs are PECLcompatible. 25 REFIN Input Differential reference clock inputs. Externalinput signals must be applied via AC coupling. 26 BYPASS BypassDecoupling 10 Vcc via 0.01 pF or larger capacitor should be provided. 27REFOUT Output Reference output. A crystal network may be placed betweenthis output and the REFIN input in lieu of an external oscillator (seeFIG. 5). 28 AGCSTRB Input Load control input. Data is latched into theAGC register on the rising edge of this input. The input is TTLcompatible. 29 AGCDATA Input Data input. A six bit data byte is loadedserially via this data input LSB. The input is TTL compatible. 30 AGCCLKInput Clock input. Provides the clock function for the three wire AGCcontrol. Data is loaded into a six bit shift register on the negativegoing edge of this clock. The input is TTL compatible. 31 VEEDIG InputDigital block ground pin. 32 VCCIF Input Positive supply input for IFblock. Decoupling to ground via 0.01 μF or larger capacitors should beprovided.

[0220] All Vee and Vcc pins should be connected to ensure reliableoperation.

[0221] Notes on Pin Descriptions

[0222] 1. All bypassing should be to the positive supply unlessotherwise specified. Capacitors with low dissipation factor should beplaced as close as possible to all power pins.

[0223] 2. Differential input and output signals should be used foroptimal system performance.

[0224] 3. Good RF practices must be followed in the PC board layout,ground and power planes should be used whenever possible.

[0225] 4. Vee is commonly referred to as GND.

[0226] Functional Description

[0227] LNA/Mixer

[0228] The GRF1 receives the GPS L1 signal via an external antenna andsuitable LNA. The L1 input signal is a Direct Sequence Spread Spectrum(DSSS) signal at 1575.42 MHz with a 1.023 Mbps Bi-Phase Shift Keyed(BPSK) modulated spreading code. The input signal power at the antennais approximately −130 dBm (spread over 2.048 MHz), the desired signal isunder the thermal noise floor. The front-end compression point is −30dBm, given adequate external filtering in the IF section, rejection oflarge out-of-band signals is possible.

[0229] The LNA/Mixer is totally differential which significantly reducescommon mode interference. With a noise figure of approximately 8 dB and20 dB conversion gain, cheap relatively high insertion loss filters maybe used in the IF. The LNA/Mixer and on-chip 1527.68 MHz PLL produce anIF output frequency of 47.74 MHz. The double balanced mixer outputs areopen collectors and therefore require external dc bias to Vcc.

[0230] IF Stage

[0231] The IF stage provides approximately 75 dB small signal gain. Anexternal IF filter is required between the LNA/Mixer and IF amplifierstages. The IF bandpass filter can have a bandwidth between 3 and 12 MHzwithout impacting performance. The inputs to the IF stage are doubleended and require dc bias from Vcc. The double balanced I/O providesapproximately 40 dB noise immunity; therefore, a balanced filter designis highly recommended.

[0232] A 6-bit register provides 48 dB of gain control (1 dB/bit) and isaccessible via a three wire TTL level interface (AGCCLK, AGCDATA,AGCSTRB). The control bits are serially shifted into the chip LSB firston the falling edge of the AGCCLK. A unique voltage controlled sourcedesign in the IF gain stages provides extremely good gain linearity overtemperature (<0.5 dB). Maximum gain is selected with all zeros loadedinto the register (see FIG. 15 for timing details).

[0233] The IF amplifier output is fed to a 2-bit quantizer whichprovides sign and magnitude outputs. The sign and magnitude data bitsare latched by the falling edge of the 38.192 MHz sample clock (see PLLSynthesizer). Differential outputs for this ACQCLK are also provided.

[0234] Phase-Locked Loop Synthesizer

[0235] The local oscillator, reference GPSCLK, and sample clock arederived from an on-chip PLL synthesizer block. The VCO, dividers, andphase detector are provided in the chip. All that is needed is anexternal 24.552 MHz reference clock and passive loop filter components.

[0236]FIG. 16 shows the chip in a typical configuration. The loop filteris provided using a charge pump. Two resistors and two capacitors setthe loop filter bandwidth. The reference can be produced using acrystal, resistor, and two capacitors, or if better reference stabilityis required an external oscillator may be used. Differential inputs forthe reference are available for use with an external oscillator whichprovides significant noise immunity. Differential GSPCLK and ACQCLKoutput signals are provided by the block.

[0237] GSP1 Interface

[0238] The output side of the GSP1 interface provides clocks and the2-bit sample data to the GSP1. These signals are all differential toreduce noise and provide better performance. The 2-bit samples aredigitally filtered which significantly reduces the filtering required inthe RF circuit such that a simple 1 or 2 pole LC filter is sufficientfor the IF filter. The GSP1 provides a true 2-bit data path throughoutthe correlation process which enables tracking of extremely weaksignals.

[0239] The input side of the GSP1 interface is an AGC block whichcontrols the gain in the IF stage in the GRF1. The gain can be set to afixed value or allowed to vary according to a software controllablethreshold. GSP1 monitors the incoming signals and can adjust the gainevery 1 millisecond, allowing rapid adaptation to a changing signalenvironment. TABLE 3 AC Characteristics AC Characteristic Min. ValueMax. Units Conditions LNA/Mixer Conversion Gain 23 25 27 dB (Notes 1, 2)Noise Figure 8 10 dB (Notes 1, 2) Input Compression (1 dB) −30 −25 dBm(Notes 1, 2) Single Ended Input Impedance (Real) 80 Ω (See Notes 1, 3,FIG. 4) Single Ended Input Impedance (Imaginary) 2 pF (See Notes 1, 3,FIG. 4) Differential Output Impendance (Real) >50 KΩ (Note 1)Differential Output Impedance (Imaginary) 2 pF (Note 1) IF Strip InputImpedance min. (Real) 5 >5 KΩ F = 47.74 MHz, (Note 1) Input Compression−60 dBm (Note 1) Small Signet Gain 75 78 dB F = 47.74 MHz, Differentialinput, Zin = 2 KΩ Gain Linearity +/−0.5 dB F = 47.74 MHz Gain ControlRange 40 48 52 dB Gain Resolution 0.5 1 1.5 dB/Bit Bandwidth +/−20 MHzFc = 47.74 MHz, (Note 1) A/D Clock Frequency 38.19 MHz Sign Bit DutyCycle 40 50 60 % PLL Synthesizer Spurious −50 dBc (Note 1, Note 4) VCOGain 1 1.3 1.6 GHz/V Phase Detector Gain 60 mV/RAD (Note 1) ReferenceInput Level 200 mVp-p (Note 1) Reference Input Impedence >5 KΩ (Note 1)Digital Interfaces GPSCLK, ACQCLK outputs Duty Cycle 40 50 60 % TDR, TDF3 nS Co = 15 pF TACQCYC 28.21 nS Co = 15 pF TGPSEYE 20.36 nS Co = 15 pFTSATSU 52.42 nS Co = 15 pF ISINK, ISOURCE 1 2 mA

[0240] TABLE 4 AGC Interface Timing Parameter Symbol Min Max UnitsAGCCLK cycle time T14 161 163 ns AGCDATA setup time T15 61.5 82.5 nsAGCDATA hold time T16 79.5 80.5 ns AGCSTRB wait time T17 79.5 80.5 nsAGCSTRB pulse time T18 161 163 ns

[0241] Referring now to FIG. 17, a series of graphs of relativecorrelation amplitude as a function of time offset are shown for directpath and two types of multipath interference. These graphs are alignedat a time offset of zero, that is, at the time of arrival of the directpath signal.

[0242] Direct path correlation function 226, in the center of thefigure, is the result of correlating a satellite signal received along adirect, line of sight, path, in the absence of multipath signal(s), witha replica of the C/A code modulation then present on the direct pathsignal. The peak 230 of direct path correlation function 226 is shown atthe origin to represent the actual time of arrival or zero code phase.In practice, this point may be somewhat offset due to filtering andother biases. Peak 230 will be taken as the punctual code phase, thatis, the time of arrival of the PN Code group from a particularsatellite.

[0243] Direct path correlation function 226 may be produced for exampleby operation of Correlator Block 110 correlating the Doppler shiftedsatellite signals from Doppler Block 108 by the output of Coder Block112 as shown in FIG. 9 while changing the estimated code phase. Inparticular, direct path correlation function 226 shows the shape of thecorrelation function that would result from adjusting the code phase, inthe absence of multipath interference, from about one C/A code chipwidth early, a delay or time offset of −1 chip, to about one chip widthlate, a delay or time offset of about +1 chip.

[0244] The triangular shape of direct path correlation function 226 isconventionally understood to result from the following circumstances.There will be almost no correlation between the signal received and theinternally generated code when the code phase offset is greater thanabout 1 to 1.5 chips in either direction. As the time offset is reducedfrom about 1 chip to about zero, in either direction, the correlationincreases to a maximum at zero offset. That is, when the code phase ofthe internally generated code is exactly equal (less biases, offsets andthe effects of filtering) to the code phase of the signal as receivedthe correlation peaks.

[0245] A delay-locked loop is conventionally used for tracking theexpected position of peak 230, by using a pair of early and latecorrelators with a fixed offset or time delay there between, performingearly and late correlations to surround or straddle peak 230.

[0246] As shown in FIG. 18, residual code phase errors resulting frommultipath interference can be detected, determined and/or corrected inaccordance with the present invention. In particular, satellite signalsare received by GPS antenna 28 and processed by various components asdescribed above, as well as by Band Pass Filter 232, before beingcorrelated with a code replica produced by PN Code Generator 234. Thetime offset of the PN code produced by PN Code Generator 234 iscontrolled by the delay or offset of adjustable delay 236 driven bysystem clock 238.

[0247] The output of PN Code Generator 234, as offset, is applied toearly correlator 240 for correlation with the satellite signals asprocessed by Band Pass Filter 232. The output of PN Code Generator 234is applied through a pair of ½ chip delays 242 and 244 to latecorrelator 246, the other input of each of which is also provided by theoutput of Band Pass Filter 232. As a result, the satellite signals arecorrelated at two points with a fixed 1 chip delay, or separation, therebetween. The correlation functions are applied to detectors 248 whichevaluates a characteristic of the correlation function, such as thepower. It should be noted that other values or characteristics of thecorrelation function, typically a complex number including in-phase andquadrature phase components, can be used in place of power measurementsincluding amplitude measurements.

[0248] In accordance with conventional techniques, a delay-locked loopis used for code tracking by adjusting the time offset of adjustabledelay 236 so that the amplitude or power of the early and latecorrelation functions are maintained in a fixed relationship. In apreferred embodiment, the power of the early and late correlationfunctions are maintained equal by Code Phase Error System 250 whichadjusts the code phase time offset to maintain this relationship. Codetracking is then performed in that the actual time of arrival of thecode from the satellites is known to be within the one chip separationbetween the early and late correlations while their powers remain equal.

[0249] Referring again to FIG. 17, when the delay-locked loop of FIG. 18is shown to be properly tracking the code phase so that the early andlate correlation amplitudes are equal, the relative magnitudes of earlyand late correlations 252 and 254 are half of the magnitude of peak 230.That is, when the time phase offset is adjusted so that correlationamplitudes of equal value are tracked, these values symmetricallysurround, in time, the actual time of arrival of the signals shown inthe figure as prompt correlation 256. In other words, for a direct pathsignal, prompt correlation 256 is caused to occur midway between earlyand late correlations 252 and 254 so that prompt correlation 256 occursat zero time offset, i.e. at the actual time of arrival of the code. Asshown in FIG. 17, the amplitude of prompt correlation 256 is a relativeamplitude given a value of 1.0. The amplitudes of early and latecorrelations 252 and 254 have equal values of 0.5.

[0250] As shown in FIG. 18, to cause the prompt correlation to occurmidway between the early and late correlations, the 1 chip delay betweenearly and late correlation is provided by a pair of ½ chip delays 242and 244. The output of ½ chip delay 242 is applied to prompt correlator240 to produce prompt correlation 256, one half chip offset from earlycorrelator 240, for evaluation by detector 248. The input of ½ chipdelay 244 is provided by ½ chip delay 242 so the output of ½ chip delay244, applied to late correlator 246, is separated from the input toearly correlator 240, by one full chip offset. The outputs of detectors248 are then applied to complete the delay-locked loop.

[0251] Multipath distortion, if present, causes the prompt correlationto be offset from the actual time of arrival of the satellite signals byan error, described herein as the code phase residual error. The sign ofthe error between the prompt correlation and the actual time of arrival,either leading or lagging, has been determined to depend upon therelationship between the carrier phases of the direct and multipathsignals. When the difference in phase between the carrier phases of thedirect and multipath signals approaches 0°, as shown for example aslagging multipath correlation function 258, the direct and multipathsignals tend to reinforce, increasing the relative amplitude of thecorrelation products. When the difference in phase between the carrierphases of the direct and multipath signals approaches 180°, as shown forexample as leading multipath correlation function 260, the direct andmultipath signals tend to cancel, decreasing the relative amplitude ofthe correlation products.

[0252] More importantly, the relationship between the location of theactual time of arrival, and the points of equal correlation amplitude,also changes. Without multipath, as discussed above, the points of equalmagnitude of early and late correlations separated by a fixed delay aresymmetrical about the correlation peak, that is, the actual time ofarrival, so that the point midway there between tracked as the punctualcorrelation is in fact the actual time of arrival of the code.

[0253] In accordance with the present invention, however, it has beendetermined that multipath interference, by reinforcement orcancellation, causes the points of equal amplitude early and latecorrelations to no longer be symmetrical about the correlation peak. Forexample, as can easily be seen by inspection of lagging multipathcorrelation function 258, the points of equal amplitude early and latecorrelation 252 and 254 are shifted to the right, that is to a positiveor lagging delay, with respect to the points of equal amplitude earlyand late correlation for direct path correlation function 226.

[0254] When the midway point in time offset between the early and latecorrelation is tracked, for lagging multipath correlation function 258,lagging prompt correlation 262 is offset in time from direct path promptcorrelation 256 by multipath reinforcement interference lag error 264.That is, lagging prompt correlation 262 is offset from the actual timeof arrival of the direct path signal by a positive or lagging delaytime. Similarly, when the midway point in time offset between the earlyand late correlation is tracked, for leading multipath correlationfunction 260, leading prompt correlation 266 is offset in time fromdirect path prompt correlation 256 by multipath cancellationinterference lead error 268. That is, multipath cancellationinterference lead error 268 is offset from the actual time of arrival ofthe direct path signal by a negative or leading lagging delay time.

[0255] In addition, the relationship between the early, prompt and latecorrelation product amplitudes are changed by multipath interference. Ascan be seen by inspection of lagging multipath correlation function 258,when the midway point in time offset between the early and latecorrelation is tracked, for lagging multipath correlation function 258,lagging prompt correlation 262 is greater in amplitude than direct pathprompt correlation 256. The amplitudes of early and late correlations252 and 254 for lagging multipath correlation function 258 are alsogreater than for direct path correlation function 226.

[0256] In particular, lagging prompt amplitude 270 is greater than 1.0and equal early and late lagging correlation amplitudes 272 are greaterthan 0.5. However, as can be seen by inspection and as demonstrated bysimulation, equal early and late lagging correlation amplitude 272 isgreater than one half of lagging prompt amplitude 270. Similarly,leading prompt amplitude 270 is less than 1.0 and equal early and lateleading correlation amplitudes 276 are less than 0.5. Further, equalearly and late leading correlation amplitude 276 is less than one halfof leading prompt amplitude 274.

[0257] In accordance with the present invention, these relationships areused to determine the sign and magnitude of the offset errors multipathreinforcement interference lag error 264 and multipath cancellationinterference lead error 268. Code Phase Error System 250, shown in FIG.18, receives as inputs, the correlation amplitudes (or othercharacteristics as determined by detectors 248) of the correlationproducts from early correlator 240, prompt correlator 243 and latecorrelator 246.

[0258] If Code Phase Error System 250 determines that the amplitude ofthe prompt correlation performed midway between the early and latecorrelations is less than twice the amplitude of the equal early andlate correlations, then multipath reinforcement interference lag error264 exists. If Code Phase Error System 250 determines that the amplitudeof the prompt correlation performed midway between the early and latecorrelations is more than twice the amplitude of the early and latecorrelations, then multipath cancellation interference lead error 268exists.

[0259] If, however, Code Phase Error System 250 determines that theamplitude of the prompt correlation performed midway between the earlyand late correlations is equal to twice the amplitude of the early andlate correlations, then no multipath interference error exists.

[0260] That is, the existence of a multipath interference error may bedetected, and if detected the sign of the error may be determined bycomparison of the ratio of the amplitude of the prompt correlation tothe equal amplitudes of the early and late correlations offsetsymmetrically from the prompt correlation.

[0261] The relative magnitude of the multipath interference error may beestimated in several different manners. Depending upon the relativeamplitude of the multipath signal to the direct path signal, and thedifferences in carrier phase there between, an appropriate, empiricallydetermined scale factor, such as −0.5, multiplied by either the sum ofthe early and late correlation amplitudes divided by the amplitude ofthe punctual correlation, or by the square root of the sum of thesquares of the early and late correlation amplitudes divided by thesquare of the amplitude of the punctual correlation, will provide asuitable correction factor under most circumstances.

[0262] In other words, a computation correction to the pseudorange canbe made proportional to the amplitude of the (Early+Late)÷Punctualcorrelations to reduce or eliminate the effect of multipath errors whenthe multipath delay is less than about 1.5 PRN chips.

[0263] As shown in FIG. 18, there are three uses for residual multipathcode phase error 278, which includes both the sign and estimatedmagnitude of the error. This error may simply be used in the rest of thereceiver, shown as receiver processor 280, to computationally refine thepseudorange and therefore the position determination without changingthe operation of the delay-locked loop used for tracking the code phase.

[0264] Alternately, or in addition thereto, residual multipath codephase error 278 may be applied to adjustable delay 236 which changes thetime offset of PN Code Generator 234 to control the offset of earlycorrelator 240. The two ½ chip delays 242 and 244 maintain theseparation from early correlator 240 to late correlator 246 at one fullchip width with prompt correlator 243 centered there between. In thismanner, prompt correlator 243 may be made to more accurately track thetime of arrival of the direct path signal. In addition, separationcontrol signal 281, produced for example by Code Phase Error System 250,may be used to narrow or otherwise control the separation of the earlyand late correlations as well as the symmetry around the promptcorrelation to better track the actual time of arrival of the code.

[0265] Further, residual multipath code phase error 278 can be used inmultipath model 282 to enhance or provide a synthesized model of theinterfering multipath signal(s) used, for example, for multipathcancellation. Replica 284 produced by multipath model 282 may be appliedas a measurement input to error correcting feedback loop 286 whichreceives the signals from Band Pass Filter 232 as set point input 287 toproduce error signal 288 applied to multipath model 282. Error signal288 is used to control replica 284 to reduce any differences between thereplica and the signal received until the replica is an accuraterepresentation of the multipath signals. Multipath model 282 may thenprovide additional code phase correction 290, added by summer 292 toresidual multipath code phase error 278, for adjustment of PN CodeGenerator 234.

[0266] As noted above with respect to separation control signal 281, itmay be desirable under certain circumstances to reduce the separation,or time offset, between early correlator 240 and late correlator 246 forimproved tracking. This technique of reducing the separation has alsobeen used in attempts to minimize residual error from multipathinterference by straddling the peak of the correlation function. Itshould be noted from inspection of FIG. 17 that the peak of thecorrelation function is easiest to select by straddling direct pathcorrelation function 226 because a relatively steep slope occurs on bothsides of peak 230, making the peak easier to distinguish.

[0267] As the separation between the early and late correlations isreduced in the presence of multipath, however, at least one of the sidesof the peak becomes less steep. For example, the slope of the laggingedge of lagging multipath correlation function 258 is substantially lesssteep than the leading edge thereof. Similarly, the slope of the leadingedge of leading multipath correlation function 260 is also less steepthan the slope of its lagging edge. As the slope becomes less steep inthe neighborhood of the peak and the prompt correlation, it becomes moredifficult to detect or straddle the peak, particularly in the presenceof noise. In accordance with one embodiment of the present invention,the sign and magnitude of the error may first be determined in order toreduce multipath effects before reducing the separation for trackingpurposes.

[0268] It should also be noted from FIG. 17 that two correlation peaksare produced by the cancellation interference. Although it might bepossible to track the wrong peak by accident, it is only necessary todetermine if another, earlier and perhaps larger correlation peak existswithin a small separation to cause the delay-locked loop to track thecorrect peak.

[0269] In order to provide an accurate assessment of the multipatherror, the baseline due to noise must be removed. Referring now to FIG.3, the present invention permits the convenient and accurate assessmentof the baseline due to noise as a result of the use of a relativelylarge number of correlators, such as Exclusive NOR gate correlators 74.In particular, a correlator 74 at a substantial earlier correlation timeor delay than the prompt tap can be used to assess the baseline due tonoise. In this way, the noise can be determined without interference byany correlation with the desired signal.

[0270]FIG. 19 is a block diagram schematic of GPS receiver 310constructed in accordance with another embodiment of the presentinvention. Conventional omni-directional, half-hemispherical GPS antenna312 receives PRN encoded signals from a plurality of GPS transmitters,not shown. The signals as received may, or may not, include multipathsignals which if present are to be canceled by the operation of GPSreceiver 310 in accordance with the present invention. In the particularimplementation of GPS receiver 310 shown in FIG. 19, the signals arereceived, downconverted, bandpass filtered and converted to digitalsignals for further processing, in receiver front end 314. Thisparticular implementation of front end 314 works particularly well inthe receiver of the present invention, but many other front endconfigurations may well be used with the present invention.

[0271] In particular, within front end 314, the signals received byomni-directional GPS antenna 312 are applied to RF receiver 316 afterwhich they are downconverted in mixer 318 by being mixed with a knownlocal oscillator (LO) signal produced by LO frequency synthesizer 320.Thereafter, the downconverted signals are processed in intermediatefrequency processor 322 and filtered in band pass filter (BPF) 324. Thedownconverted and bandpass filtered received signals are finallyconverted to digital signals in analog to digital converter (ADC) 326 toproduce a digitized version 328 of the signals as received. The doublelines used in FIG. 19 for digitized version 328 represent that thesignal information included therein has a complex value. It should alsobe noted that known direct conversion techniques could also be used.

[0272] ADC 326 is controlled by Sample Clock 321 from frequencysynthesizer 320 at a particular rate, typically faster than the chiprate at which the signals transmitted by the GPS receivers are encoded.In this particular embodiment, sample clock 321 runs 32 times fasterthan the chip rate and is applied to ADC 326 so that information relatedto each {fraction (1/32)}nd of each chip may be determined.

[0273] Digitized version 328 of the signals as received is applied toCarrier Tracking Loop 330 which may be a conventional carrier trackingloop modified by the addition of cancellation subtractor 332 as well asthe provision for tracking loop raw measurement signal 334 at the outputof phase rotator 336. The operation of Carrier Tracking Loop 330 will bedescribed below in greater detail after the details of operation ofnon-encoded replica signal synthesizer 338.

[0274] Replica signal synthesizer 338 provides Phase Tracking Error 340to cancellation subtractor 332 in Carrier Tracking Loop 330 forcancellation of multipath signals in cancellation subtractor 332. Asshown in FIG. 19, the components included within replica signalsynthesizer 338 are somewhat arbitrarily included in FIG. 19 in thatmany such components, such as PRN generator 342, Coder NCO 344 and othercomponents may also be present for use in other parts of GPS receiver310. For ease in description of the current invention, the operation ofsuch components within replica signal synthesizer 338 will be describedherein.

[0275] The primary operation of replica signal synthesizer 338 isperformed by Finite Impulse Response (FIR) Filter 346 which includessummer 348 and Binary Shift Register 350. In the preferred embodimentshown in FIG. 19, a 48 channel summer 348 and a 48 channel Binary ShiftRegister 350 were selected in order to evaluate about 1.5 C/A code chipswidths of signal at one time for multipath cancellation. That is, SampleClock 321 operates at 32 times the C/A code chip width so that 48 suchsamples would capture about 1.5 C/A code chips. Inaccuracies of greaterthan about one or one and one half chip widths, resulting for examplefrom multipath, are conveniently handled elsewhere in the GPS receiverusing, for example, conventional techniques.

[0276] A series of 48 switches 352, one in each channel between BinaryShift Register 350 and Summer 348, are controlled by the channels ofBinary Shift Register 350 to apply a series of 48 channel error signals354, to be described below in greater detail, to a corresponding channelof Summer 348.

[0277] During a progression of 48 pulses from Sample Clock 321, whichrepresents on the order of 1.5 chips of encoded PRN modulation indigitized version 328 of the signals as received, the satellite specificPRN code 343 for the satellite of interest is applied to Binary ShiftRegister 350. Satellite specific PRN code 343 may be produced in agenerally conventional manner, as shown for example in coder sub-system337, by clocking the output of satellite specific Code NumericallyControlled Oscillator (NCO) 344 into conventional PRN Code Generator342. Satellite specific PRN code 343 is applied to Binary Shift Register350 under the control of Sample Clock 321 so that the leading edge ofeach PRN code pulse is applied to stage 1 of Binary Shift Register 350while the remaining stages contain the remainder of the 1.5 chip samplediscussed above.

[0278] Punctual PRN code 345, derived from the application of satellitespecific PRN code 343 to Binary Shift Register 350 by computing fromstage 1 or perhaps stage 2, is applied to Carrier Tracking Loop 330 toproduce in phase or I component 372, as will be described below ingreater detail with respect to Carrier Tracking Loop 330. Codersub-system 337 also produces Code Tracking Error Signal 341 from replicasignal synthesizer 338, as will be described below in greater detail.

[0279] The 48 channel error signals 354 are each derived from complexerror signal 356 by correlating with the corresponding output fromBinary Shift Register 350 and are individually weighted and integrated,in channel gain/signals conditioning systems 355, in a manner tending toreduce the magnitude of complex error signal 356 by adjustingMeasurement Signal 364 to better approximate Set point signal 362, thatis, to better match and therefore cancel the signals as received,including multipath errors, if any. In the preferred embodiment, asshown in FIG. 19, a complex form of the Least Mean Square, or LMS,approximation algorithm is used although many other known approximationtechniques could be used. The error tracking loop serves to conditionand weight complex error signal 356 to force measurement signal 364 toequal Set point signal 362.

[0280] Set point signal 362 is applied to tracking loop subtractor 360as the Set point signal to be maintained and is derived from digitizedversion 328 of the signals as received while measurement signal 364 isthe output of Summer 348 in replica signal synthesizer 338 representingthe replica of the signals as received. A zero value for complex errorsignal 356 indicates that measurement signal 364 must have been equal toSet point signal 362 from which it was subtracted.

[0281] Set point signal 362 is derived from digitized version 328 of thesignals as received after phase rotation by phase rotator 336 in CarrierTracking Loop 330 and subsequent demodulation in Data Bit Demodulatormultiplier 370 by being multiplied by an estimate, or measured value, ofthe 50 bits per second (bps) navigation modulation applied to the C/Asignal of each GPS satellite transmitter, shown in FIG. 19 as Nav databits 368. The removal of the effect of the navigation modulation isnecessary so that the C/A code modulation may be tracked directly. Thebi-phase navigation message modulation, at 50 bps, may be removed asshown in FIG. 19 by stripping the modulation from raw measurement signal334 in data bit multiplier 370 or by mod-2 adding the modulation tosatellite specific PRN code 343 as will be described below in greaterdetail with reference to FIG. 20.

[0282] Referring now again to FIG. 19, during operation, the datamessage and therefore Nav data bits 368, may already be known. Sincethis data message may normally be expected to not change very quickly,the data bits may be stripped from raw measurement signal 334 bymultiplying Nav data bits 368 with raw measurement signal 334 in databit multiplier 370. Even if the full data message is not exactly known,portions of the message may be known or assumed because the messagechanges very slowly compared to the bit rates of the signals beingprocessed. The position within the navigation message may be known andused, such as the header or protocol information indicating the type ofinformation to follow, that is, the header for the time and dateinformation. It is only necessary to know enough about the data messageto properly model the multipath signals for cancellation.

[0283] Referring now also to FIG. 20, if the data bit message is notcurrently known, it may be estimated by demodulation as shown or in anyother convenient fashion. For example, the In Phase or I component 372of the Costas Loop demodulation associated with the punctual or on-timecorrelation in Carrier Tracking Loop 330 in response to punctual PRNcode 345, may be integrated over each 20 ms duration of a 50 bps navdata bit to indicate the polarity, and therefore the binary amplitude of1 or 0, for that data bit. In accordance with the embodiment of thepresent invention shown in FIG. 20, in phase or I component 372 isapplied to 20 ms Integrator and Digitizer 374, and synchronized with theGPS C/A code as received. This synchronization may be accomplished byclocking the integration in 20 ms Integrator and Digitizer 374 with databit timing signal 376, derived from PRN Code Generator 342 in coder 337,or in any other convenient fashion.

[0284] In the preferred embodiment, Integrators 373 (shown in FIG. 20)included in both the I and Q signal paths in the Costas Loop in CarrierTracking Loop 330 already provide integration of at least 20 ms, so thatfurther integration in 20 ms Integrator and Digitizer 374 is notrequired. If the integration provided by Integrators 373 is less than 20ms, a 20 ms integration time is provided by 20 ms Integrator andDigitizer 374.

[0285] The output of 20 ms Integrator and Digitizer 374 is in the formof Demodulated Data Bits 378. The time ambiguity as to which 1 msecrepetition of the C/A code modulation marks the start of the data bitmay be resolved in any one of the many conventional techniques known.

[0286] However, this estimate of the data bit information provided by 20ms Integrator and Digitizer 374 is not available until the end of the 20ms. bit duration of the 50 bps Nav Data modulation. This 20 ms. lag isacceptable for many replication synthesizers, such as the complex LMSfeedback adaptation used in replica signal synthesizer 338. An elegantbut simple solution of this problem of the lag of the estimate forDemodulated Data Bits 378 is to use each of the two possible values forNav data bits 368 in one of a pair of replica signal synthesizers andthen select the synthesizer outputs from the synthesizer determined, atthe end of the 20 ms. period, that happened to have used the correct bitvalue.

[0287] As shown in FIG. 20, in one implementation of this approach, rawmeasurement signal 334 from Carrier Tracking Loop 330, and satellitespecific PRN code 343, are both applied in parallel, both to first FIR346 a as well as to second FIR 346 b. As an alternative to stripping theNavigation Message Data Bits from raw measurement signal 334 to form Setpoint signal 362, the data bit is mod-2 added to satellite specific PRNcode 343, to represent the 180° possible phase shift due to theNavigation Message Modulation, in inverter 347 before the code isapplied to second FIR 346 b.

[0288] In particular, a predicted data bit value of bit=0 isaccomplished by applying satellite specific PRN code 343 directly tofirst Binary Shift Register 350 a in first FIR 346 a. First replicasignal synthesizer 338 a includes first FIR 346 a which uses complex LMSTracking Algorithm 339 a to synthesize measurement signal 364 in Summer348 a in response to first Binary Shift Register 350 a. A predicted databit value of bit=0 is applied to first Binary Shift Register 350 a infirst FIR 346 a by applying satellite specific PRN code 343 directly tofirst Binary Shift Register 350 a. The outputs of complex LMS TrackingAlgorithm 339 a include h_(1a). and h_(2a) which represent theweightings of the first two time segments of first FIR 346 a.

[0289] A predicted data bit value of bit=1 is applied to second BinaryShift Register 350 b in second FIR 346 b by applying satellite specificPRN code 343 through inverter 347 to second Binary Shift Register 350 b.FIR 346 b uses complex LMS Tracking Algorithm 339 b to form tosynthesize measurement signal 364 b in summer 338 b of second FIR 346 bin response to second Binary Shift Register 350 b. The outputs ofcomplex LMS Tracking Algorithm 339 b include h_(1b) and h_(2b) whichrepresent the weightings of the first two time segments of second FIR346 b.

[0290] In order to determine which of the predicted Nav Data BitModulation values, 1 or 0, was correct, at the end of a 20 ms.integration time, the actual value of the Nav Data Message Modulation isapplied to bit comparator and data switch 382 by Demodulated Data Bit378 from 20 ms Integrator and Digitizer 374, together with h_(1a) andh_(2a) from first FIR 346 a and h_(1b) and h_(2b) from second FIR 346.If the actual data bit had a data bit value of bit=0, i.e. no phaseshift, then bit comparator and switch 382 applies h_(1a) and h_(2a) fromfirst FIR 346 a are applied as h₁ and h₂ to coder sub-system 337. Inaddition, h_(1b) to h48 b in second FIR 346 b are replaced by h_(1a) toh48 a from first FIR 346 a. If however, Demodulated Data Bit 378indicates a data bit value of bit=1, then bit comparator and switch 382applies h_(1b) and h_(2b) from second FIR 346 b as h₁ and h₂ to codersub-system 337. In addition, h_(1a) to h48 a in first FIR 346 a arereplaced by h_(1b) to h48 b from second FIR 346 b. In this manner, thesystem is updated every 20 ms even if the Nav Data Bit Modulation is notknown a priori.

[0291] With reference again in detail to FIG. 19, the use of h₁ and h₂in coder sub-system 337 will now be described in greater detail. Asnoted above, these two values represent the weightings of the first twotime periods used in the successful replication of the signal asreceived, including multipath effects. h₁ and h₂ are combined in adder384 for conversion by ArcTangent converter 386 into Phase Tracking Error340 which is then applied by coder sub-system 337 to Carrier TrackingLoop 330.

[0292] In addition, the magnitudes of h₁ and h₂ are squared in squarers(or alternatively absolute values) 388 for subtraction by subtractor 390to produce Code Tracking Error Signal 41 for use by Code Loop Filter 392which drives coder NCO 344. Estimated Carrier Phase 379 is produced byCarrier Tracking Loop 330 and may be used for dynamic aiding, especiallyfor a moving platform such as an automobile, by being scaled to the PRNchip rate in Divide by 1540 Scaler 394 for combination with the outputof Code Loop Filter 392 in adder 396 before application to Coder NCO 344which drives PRN Code Generator 342 and produces Estimated Code Phase398.

[0293] Estimated Carrier Phase 379 and Estimated Code Phase 398 are usedin a conventional GPS data processor, such as Processor 29 shown in FIG.19, to derive the required position information.

[0294] Referring now again to data bit multiplier 370 in FIG. 19, oneadvantage of stripping the Navigation Data Bit Modulation from rawmeasurement signal 334 to form Set point signal 362 is related to theneed to replicate Binary Shift Register 350 when the Nav Data Modulationis not known. An alternate approach is to add the Navigation Data BitModulation to measurement signal 364 by, for example, appropriatelyinverting satellite specific PRN code 343 as applied to FIR 346. Thatis, when both possible Data Bit Modulation values of the NavigationMessage must be tested, stripping Nav data bits 368 from (FIR) Filter346 in data bit multiplier 370 of FIR 346, as shown in FIG. 19, permitsreplication of parallel FIRs 346 driven by a single Binary ShiftRegister 350. This configuration is shown below in FIG. 21.

[0295] As shown in FIG. 20, however, when testing for the NavigationMessage Data in a configuration in which the two possible NavigationMessage bits are created by inverting to one of a pair of FIRs 346,duplicate Binary Shift Registers 350 a and 350 b are required. Strippingof the Navigation Message before application to FIR 346 thereforeprovides the advantage of reducing the component count in a parallelsystem by Binary Shift Register 350 b.

[0296] Referring now to FIG. 21, digitized version 328 of the signals asreceived are applied to Carrier Tracking Loop 330 for phase rotation byphase rotator 336 to form raw measurement signal 334 which is strippedof Nav data bits 368 by data bit multiplier 370 in the same manner as inFIG. 19. Raw measurement signal 334 is then applied to first replicasignal synthesizer 338 a to represent a Nav Data Bit modulation ofbit=0. Resultant set point signal 362 represents a Nav Data Bitmodulation of bit=1 for application to second replica signal synthesizer338 b. It is important to notice that contrary to the configurationshown in FIG. 20, both first FIR 346 a and second FIR 346 b are drivenby a single Binary Shift Register 350, the outputs of which are appliedin parallel to both filters. Complex LMS Tracking Algorithm 339 areceives the prompt code signal satellite specific PRN code 343 viaBinary Shift Register 350 and applies punctual PRN code 345 to CarrierTracking Loop 330.

[0297] The remaining outputs of the error tracking loops are h_(1a) andh_(2a) from first FIR 346 a and h_(1b) and h_(2b) from second FIR 346 bwhich are compared with Demodulated Data Bit 378 from 20 ms Integratorand Digitizer 374 in bit comparator and switch 382 to determine which ofthe filter outputs is applied to coder sub-system 37 as h₁ and h₂. Theoperation of the embodiment of FIG. 21 is therefore much like that ofFIG. 20 except that the Nav Data Bit Modulation is stripped from rawmeasurement signal 334 rather than added to satellite specific PRN code343. As noted above and apparent from FIG. 21, one of the beneficialresults of this configuration is the use of a single Binary ShiftRegister 350 rather than first Binary Shift Register 350 a and secondBinary Shift Register 350 b as required in the configuration shown inFIG. 20.

[0298] Referring now to the operation of the embodiments shown in FIGS.19-21, the use of Nav Data Bit Modulation derived from the signals asreceived, which may include substantial multipath errors, does notsubstantially degrade the operation of a typical receiver. Inparticular, a typical receiver may be assumed to operate, for example,at a signal level of 38 dB-Hz, E_(b)/N₀=21 dB at the 50 bps data rate ofthe Navigation Data Bits where E_(b) represents the energy per bit andN₀ represents the watts per hertz. The bit error rate would then be 10⁻³at approximately E_(b)/N₀=7 dB. Thus the punctual correlation can beseverely degraded by the multipath without significantly introducingerrors into the data bit estimates, as verified by simulations. In otherwords, the relative greater magnitude of the signal and its error rateover the magnitude and estimate of the Navigation Data Bits means thatmultipath errors in the Navigation Data Bits don't significantly effectthe processing of the receiver signals.

[0299] In order to mathematically analyze the operation of thecancellation approach of the present invention, the received signal,with K multipath components, can be modeled as $\begin{matrix}{{s(t)} = {{{b(t)}{\sum\limits_{k = 0}^{K}\quad {a_{k}^{{j\varphi}_{k}}{{PN}\left( {t - \tau_{k}} \right)}}}} = {{b(t)}{\sum\limits_{k = 0}^{K}\quad {\alpha_{k}{{PN}\left( {t - \tau_{k}} \right)}}}}}} & (1)\end{matrix}$

[0300] using a complex representation of magnitude and phase on thecarrier. For each multipath component, τ is the delay in PRN chips, a isthe magnitude, and φ is the carrier phase. For mathematical convenience,the magnitude and phase can be combined into the single complex value α.The direct component corresponds to α₀, and its time of arrival andphase are the desired measurements for purposes of navigation. Onlymultipath components delayed by less than roughly one PRN chip are ofconcern in Eq(1), since the PRN code is uncorrelated for longermultipath delays.

[0301] Injecting the known PRN code into a binary shift register asshown in FIG. 19, the general estimate $\begin{matrix}{{{est}(t)} = {\sum\limits_{m = 1}^{M}\quad {h_{m}{{PN}\left( {t - \tau - {mT}} \right)}}}} & (2)\end{matrix}$

[0302] is synthesized, where T denotes a design time spacing in PRNchips and the h_(m) values are complex values to be determined. A plotof h_(m) versus mT is the multipath profile estimate in the receiver,ideally, would match the actual profile. The h_(m) values may be calledthe “tap weights”, and T is the tap spacing. The shift register in FIG.19 shifts every T.

[0303] In order to accurately model the input signal as distorted bymultipath, it is necessary to make τ in Eq(2) approximate τ₀ in Eq(1).The receiver processing adjusts τ, and the h_(m) values, to minimize themean square value of

ε=b _(e)(t)[s(t)+n(t)]−est(t)  (3)

[0304] where b_(c)(t) is an estimate of the data bits. As discussedabove, the data bits can be effectively stripped off. Then, astraightforward approach to adjusting the h_(m) is the well-knowncomplex LMS algorithm to minimize the mean square error of a weightedsum compared to a desired result. In Eq(3), s(t) is the desired result,and ε is the complex error. Applied to the present task, the complex LMSalgorithm is described by the feedback adaption

Δh _(m) =gPN*(t-mT)ε  (4)

[0305] which adjusts each h_(m) value to minimize the mean square error.The gain constant g sets the time constant of the adaption. A small greduces the error due to noise and ensures stability of the feedbackloops. Eq(4) shows a complex conjugate is to be taken of the PRN code ingeneral, but this is unnecessary in the present application where PRN(t)is real (±1 values).

[0306] The value of τ can be estimated by determining the earliestsignificant value of h_(m) when the receiver is tracking conventionallyeither by differencing early and late correlation powers (delay-locktracking) or by forming the dot product between an early-latecorrelation and a punctual correlation (dot-product tracking). Thisapproach views the computation of the multipath profile estimate as aproviding a correction to conventional PRN tracking.

[0307] In accordance with the present invention, an alternate andpreferable approach to estimate a is now described. To begin, assumethere is no multipath, only the direct component. Ideally, only oneh_(m) would be non-zero in the multipath profile estimate; however,because of the effect of the finite receiver bandwidth, the multipathprofile estimate actually has a non-zero width. Then, a restoring forcefor adjusting tau can be obtained by differencing two adjacent h_(m)values, e.g.,

Tracking Restoring Force=|h₁|²−|h₂|²  (5)

[0308] In effect, τ is adjusted by this method of tracking towards atracking null so that the direct component falls midway between theearliest two adjacent taps of the multipath profile estimate. (Note, itmay be preferable to displace the two adjacent taps used in Eq(5) to alittle later in the multipath profile estimate.) Then, a tracking loopfor τ can be closed to force the restoring force of Eq(5) to thetracking null.

[0309] Now suppose that a multipath component suddenly appears. The LMSfeedback adaption to estimate the multipath profile causes other valuesof h_(m) for m>2 to develop non-zero values, but, ideally, h₁ and h₂ arenot affected. Thus, ideally, τ continues to be tracked without asignificant error.

[0310] The carrier phase of the direct component is contained in thecomplex values of h₁ and h₂ when tracking τ as described above. Sincethe direct component falls between these two taps, an estimate ofcarrier phase is given by the phase of h₁+h₂. Ideally, when a multipathcomponent suddenly appears, the estimate of carrier phase of the directcomponent is affected only slightly.

[0311] A practical concern of carrier tracking is being able to trackduring vehicle dynamics. For this reason, FIG. 19 shows the usualpunctual correlation to generate I and Q components that are used tocompute the error for standard Costas loop tracking of the dynamics. Thecarrier phase determined from h₁ and h₂ for the direct component issubtracted from the Costas error so the Costas loop is tracking theestimated phase of the direct component.

[0312] The estimated carrier phase is scaled by 1540, in Divide by 1540Scaler 394, which represents the ratio of carrier frequency to PRN chiprate, and injected into the code tracking in Coder NCO 344 to remove theeffect of dynamics from the code loop.

[0313] Referring now to FIG. 22, the operation of an alternateembodiment of the present invention is shown in which multipath errorsat delays greater than about 1.5 C/A code chips can be detected andcorrected. This technique for the correction of long delay,non-interfering multipath signal errors (i.e. delay greater than about1.5 chips) may be used in combination with techniques for short delay,constructive or destructively interfering multipath signal errors (i.e.delay less than about 1.5 chips) such as those shown in FIGS. 17 through18 and FIGS. 19-21, or may be used alone.

[0314] In an urban environment, or any other in which there aresubstantial potential signal blocking and reflecting objects, GPS andother spread spectrum receivers occasionally lock onto and track areflected or multipath signal. Although tracking of a multipath signalmay begin when the direct path signal from the transmitter is blocked,tracking of the multipath signal will often continue even when thedirect path signal later becomes available, thereby losing potentiallyvaluable navigation information.

[0315] This multipath problem may also occur in sites selected fordifferential GPS transmitters as a result of reflections, for examplefrom a black asphalt parking lot adjacent the transmitter, as the angleof the incoming signal changes because of satellite motion.

[0316] If the direct path signal thereafter becomes available, it wouldbe advantageous to force the receiver to lock onto the direct pathsignal and ignore the reflected signal that had been tracked. To dothis, direct path and multipath reflection signals must easily bedistinguished from each other. In accordance with the operation of theembodiment depicted in FIG. 22, the greater than conventional number ofcorrelators available to track the incoming signals for each satellitein order to provide fast reacquisition are advantageously used to verifythat the signal being tracked is in fact the direct signal rather than alater arriving multipath signal. If an un-tracked direct path signal, oreven a shorter path multipath reflection signal, is detected, thetracking is immediately moved to the better signal.

[0317] During satellite tracking, in addition to performing early,prompt and late correlations to maintain tracking accuracy, the presentinvention utilizes a plurality of progressively earlier correlations todetect the presence of a satellite signal substantially earlier than thesignal currently being tracked as the prompt signal. When an earliersignal is detected it is assumed to be a more valuable signal, such asthe direct path signal or at least a shorter path multipath reflectionsignal, especially when the magnitude of the earlier correlation islarger than the magnitude of the prompt correlation for the signal beingtracked. When an earlier, more valuable signal is detected, the codedelay or code phase is adjusted so that the earlier signal is tracked asthe new prompt correlation signal. A related phenomenon has beendiscovered, related to the rate of change of drift of a reflected pathsignal towards, or away from, the direct path signal. For example, in areceiver located above a black asphalt parking lot, the reflected pathsignal is later than the direct path signal but the delay is notconstant. As the angle of incidence of the signals received from thesatellite changes, the delay changes. The rate of change of the delay,that is, the speed of progression, provides substantial informationabout the reflector including its physical qualities such as angle anddistance.

[0318] In addition to using this information for other purposes, thespeed of progression may be helpful in those cases in which thedifference in amplitudes of the direct and reflected paths cannot beused to distinguish between the direct and reflected signals. That is,the reflected path signal will change in time of receipt from thedesired signal and will also change in a manner distinguishable fromdirect path signals. Many characteristics of the desired, direct pathsignals are known from the ephemerides even when the exact time ofarrival is not yet known. The rate of progression of a reflected signalwill differ from that expected from progression of the direct pathsignal caused by satellite motion and may therefore be used to identifythe direct path signal. In some situations, particularly in fixedlocations such as differential GPS transmitting stations, the receivermay be calibrated for known reflectors, such as the black asphaltparking lots described above.

[0319] In other situations, such as in a moving vehicle in an urbanenvironment in which there are rapid changes of reflectors and thedirect path may be blocked several times, the information from a strongmultipath signal may be corrected on the basis of the rate ofprogression, perhaps by separately tracking the reflected path signal,so that the “dead reckoning” or modeling of the direct path signal maybe improved by tracking the reflected path in the interims when thedirect path is blocked.

[0320] In operation, as shown in FIG. 22 and as previously describedwith regard to FIG. 11, each 11 ½ chip sample or segment is Dopplerrotated to provide a satellite specific sample for each SV beingtracked. Segment #1 is first processed in SatTRAK channel 38 for SV 1with a Doppler rotation specific for that SV at that time and thenprocessed in SatTRAK channels 40, 42 and 44 SV's 2-4 (and so on for all11 SV's) by Doppler rotating the segment for each SV in each channel.Each Doppler rotated version of Segment #1 is then, in turn, delayed byeach of 22 satellite specific code delays to determine the correlationmagnitudes for each of the 22 delay theories for that SV.

[0321] Thereafter, the 11 ½ chip samples of each of the remaining 185segments in each ms code repetition period are processed in the samemanner. The results of the correlation for each delay for each of the 12SVs are accumulated in a matrix of correlation magnitudes for SVs as afunction of tap number or delay. For example, the accumulation ofcorrelation amplitudes for correlations of the signals from SV #1 inSatTRAK channel 38 is shown in FIG. 22 in Row 1 for time T0. Themagnitudes are shown on an arbitrary scale. It is convenient to use amagnitude representing the power of the correlation product, rather thanthe magnitudes of the individual I and Q quadrature phase signals whichmay be used in the tracking mode. The I and Q correlation products maybe thereafter converted to power in accordance with the conventionalconversion formula in which the power is the square root of the sum ofthe squares of I and Q or power measurements and peak detection may beaccomplished within each channel. An alternate approach is describedbelow with regard to FIG. 23 in which a fast reacquisition channel,which already includes power conversion and peak detection, may be usedas a separate code phase verification channel.

[0322] In either event, the prompt correlation delay would be normallyadjusted so that the results of the prompt correlation are accumulatedin tap column #2 (or at some other fixed location such as the center ofthe delay line).

[0323] In the example shown for SV #1, the early correlation isaccumulated in column #1 which shows a magnitude of 4 for the 186segments representing a full repetition of the C/A during 1 ms. Theprompt and late correlation accumulations as shown in columns #2 and #3with magnitudes of 8 and 4, respectively. Similarly, the accumulatedmagnitudes for the early, prompt and late correlations in SatTRAKchannels 40, 42 and 44 are shown in columns 1, 2 and 3 of rows R2, R3and R4 with magnitudes of 6, 12 and 6 for SV #2; 4, 8 and 4 for SV #3and 2, 4 and 2 for SV #4. For the purpose of illustration, a multipathreflection of the signal from SV #1 is indicated in SatTRAK channel 38centered at column #17 with magnitudes of 2, 4 and 2 while a multipathsignal from SV #4 is indicated in SatTRAK channel 44.

[0324] In this configuration in which the early, prompt and latecorrelations are performed with delays or tap weights of 1, 2 and 3respectively, the remaining correlations with tap weights greater than 3may be superfluous during the tracking mode. In order to save batteryenergy or increase the speed of multiplexing, these correlations may beturned off.

[0325] In accordance with the present invention, the early, prompt andlate correlations may also be processed at the greatest delays, at tapweights at or near 20, 21 and 22. At Row 1, time t₁, the correlationmagnitudes for SV #1 in SatTRAK channel 38 are shown with the promptcorrelation being performed at column #21. If, as is shown, the promptcorrelation has been locked in error onto a multipath reflection, theSatTRAK channel 38 is inadvertently tracking a multipath reflectionrather than the desired direct path signal. The direct path signal ifvisible will reach the receiver along a shorter path and therefore at anearlier time, that is, at an earlier tap or delay number. As an example,the correlation magnitudes accumulated for SV #1 in SatTRAK channel 38in columns 6, 7 and 8 shown magnitudes of 6, 12 and 6 indicating thatthe direct path signal is present at a time corresponding to tap ordelay #7. As shown in FIG. 17, the correlation shape for a direct pathsignal, such as direct path correlation function 226, is expected to bean equilateral triangle.

[0326] When the accumulated magnitudes in SatTRAK channel 38 areanalyzed, the direct path signal at tap #7 is detected and thereafterthe correct prompt correlation is made at this time. This may beaccomplished by shifting the delays of the taps so that the delayassociated with tap #7 is thereafter present at tap #21. Thereafter, anyother earlier signals occurring and accumulated for tap weights #1through #19 may again be used to look for and detect a direct pathsignal if the currently selected prompt delay is inaccurate. Similarly,the early, prompt and late correlation accumulations for SVs #2, #3 and#4 are shown in Rows 2-4 at time t₁.

[0327] With regard to SatTRAK channel 38, the detection of the directsignal path at tap #7 rather than tap #21 indicates that the multipathsignal path length was 15 ½ chips longer than the direct path or about2½ miles longer, assuming about 6 ½ chips represents one mile.

[0328] In accordance with another aspect of the present invention, itmay be advantageous to continue to track the multipath signal to obtainadditional information for the correction of multipath interference whenthe multipath signal path length is only about 1.5 ½ chips (or less)greater than the direct path. Similarly, tracking the multipath signalmay be useful in order to model the direct path signal if the directpath signal is temporarily obscured. In particular, obscuration of thedirect path signal may lead to locking onto the multipath signal so thatwhen an earlier direct path signal is detected, it is reasonable toassume that the direct path signal may later be obscured again.

[0329] In particular, as shown for SatTRAK channel 38 in row 1, t₂, thedirect path signal may be maintained at tap #7 where detected and theprogress of the multipath reflection monitored. In the short run, thechange in path length due to vehicular motion may well be substantiallygreater than the change in path length due to satellite motion. Ineither event, however, if the multipath signal path length grows withrespect to the direct path length, it is likely that the multipathsignal will not cause additional tracking difficulties. If however, asshown, the difference in path length is decreasing, the magnitude of thecorrelations of the multipath signal may well increase.

[0330] At time t₂, the multipath signal path length has decreased to beonly about 2 miles longer than the path length of the direct path sothat the multipath correlations are accumulated in columns about 12 ½chip delays from the corresponding magnitudes of the direct pathcorrelations. In order to track both the multipath and direct pathsignals within the same 22 tap delay line, the direct path signal mustbe correlated between taps 2 and 10. In the example shown, the directpath remains at tap 17 so that the multipath signal can be tracked attap #19.

[0331] At a later time shown as time t₃, the additional path length forthe multipath signal has been reduced to about 1.5 miles which isrepresented by only 9 ½ chip delays. When the path length difference isless than or equal to half of the number of taps, it may be convenientto relocate the prompt correlation for the direct path signal to themidpoint of the row, that is, to tap #11. The multipath signal at adifferential path length of about 9 ½ chip delays is then accumulated attap #20.

[0332] At a still later time shown as time t₄, the path lengthdifferential has been reduced to about 6 ½ delays and the multipathsignal correlation is therefore accumulated at tap #17. As an example,the magnitude of the strongest multipath correlation is shown as 10, asubstantial increase over the magnitude at the larger path lengthdifferential. This increase is consistent with the changes in multipathreflection which occur when the vehicle containing the GPS receivermoves toward a multipath reflector, such as a building or mountain.

[0333] Similarly, at a still later time t₅, the path length differentialhas been reduced to about one half mile so that the multipath signalcorrelation magnitudes are accumulated in taps #13, #14 and #15. At thisstage, the multipath correlation is within about 1.5 ½ chip delays fromthe direct path correlation accumulated at taps #10, #11 and #12. Asnoted above with respect to FIG. 17, when the path length differentialis within about 1.5 ½ chip delays, the correlation products mayconstructively or destructively interfere, making it more difficult toaccurately track the direct path signal.

[0334] However, as may be seen from an inspection of FIG. 22, theprogressive change in the path length differential may be modelled as afunction of time. Although shown as a somewhat linear progression, theactual progression may take any form depending upon the location andtype of reflector as well as the relative path and changes of directionof the receiver, all of which may be modeled to provide a relativelyaccurate representation of the multipath signal during the period ofinterference with the direct path signal. The correlation productsmodelled for the multipath signal may then be subtracted from the directpath correlation, or otherwise compensated for, in order to moreaccurately track the direct path.

[0335] In addition, as shown in FIG. 17, the shape of the distortedcorrelation caused by the multipath interference may be taken intoaccount in the correction or compensation of the direct path correlationfor tracking purposes.

[0336] Further, referring now specifically to time t₆, after the pathlength differential has reached a minimum (which may be zero as themultipath signal disappears if the vehicle approaches the reflector),the multipath path length differential may begin to increase again. Itmay be advantageous to track the multipath signal, while thedifferential path length is decreasing as noted above, in order tocompensate for multipath interference. In addition, it may beadvantageous to track a multipath correlation, or at least the multipathsignal with the greatest signal magnitude, whether the path lengthdifferential is increasing or decreasing, in order to model the directpath signal during periods of obscuration.

[0337] At time t₆, the path length differential has increased to about 1mile, but the direct path signal has been obscured by the environment,that is, by a building, by foliage, by a hill or the like. By trackingthe progress of a major multipath signal, if available, includingchanges of the direction of progression of the path length differential,an accurate model of the direct path may be maintain during brief, ornot so brief, periods when the direct path signal is obscured. The modelof the direct path signal may be maintained in any convenient manner,such as in a matrix of modelled correlation products.

[0338] Referring now to FIG. 23, the code verification functiondescribed above may be configured in a different fashion to takeadvantage of some of the functions of the fast reacquisition embodimentdiscussed above with respect to FIG. 3. In one embodiment of the presentinvention, each satellite tracking channel may be operated in either asatellite tracking mode, in which quadrature correlation of the I and Qsignals from a satellite are performed at each of 22 tap delays to trackthat SV, or in a fast reacquisition mode in which the correlation powerat each of 22 tap delays are determined and the peak power is selectedin the same manner as used during reacquisition.

[0339] In the particular embodiment of the fast reacquisition modecurrently being contemplated, the correlation power for each tap isimmediately measured. In this configuration, it is advantageous to use aseparate independent channel for code phase verification.

[0340] In particular as shown in FIG. 23, Segment #1 is applied tomultiple satellite tracking channels including SatTRAK channels 38, 40,42 and 44 and so on for tracking SVs 1 through 11. Segments #2 through#186 are processed in sequence in the same manner.

[0341] CodePhase Verification SatTRAK channel 300, which was shown abovein FIG. 11 as the SatTRAK channel used for tracking SV 12, is used inthe fast reacquisition mode rather than the tracking mode to verify thecode phase for each SV in turn. The task of verifying the code phase isdescribed above and refers to search for a direct path signal receivedalong a shorter path than the path of the signal being tracked.

[0342] In operation, during the first ms, the 11 ½ half bit sample ofSegment #1 is processed in turn in CodePhase Verification SatTRAKchannel 300 with the code phase adjusted so that the prompt correlationfor the satellite signal currently tracked is correlated at one of thelarger delays, such as at tap #22. The delay theories being tested attaps #1 through #21 are then the conventional early correlation at tap#21 and progressively earlier times from tap #21 back to tap #1.

[0343] As an example, multipath signal 231 from SV #1 may inadvertentlybe tracked in SatTRAK channel 38. In SatTRAK channel 38, the code phasedelays for the 22 taps in SatTRAK channel 38 would be adjusted so thatthe prompt correlation would occur at tap #2. During an 1 ms timeperiod, the repetition period for a full 1023 bit sequence of the C/Acode, CodePhase Verification SatTRAK channel 300 would be used to verifythat no earlier, potentially direct path signal, was also available.

[0344] In operation, the code phase of CodePhase Verification SatTRAKchannel 300 is adjusted so that the peak of the signal being tracked, inthis example the peak of multipath signal 231, is tracked in tap #22. Asshown in FIG. 23, after accumulation over 186 segments, a correlationpower magnitude of 4 m representing the peak of multipath signal 231, isaccumulated at tap #22 and the half power point is shown as a magnitudeof 2 at tap #21. In addition, peak 230 of the direct signal isaccumulated at tap #4 with a magnitude of 6, while the half power pointsare shown at magnitudes of 3 for the early and late correlation powersat taps 3 and 5, respectively.

[0345] During the next ten ms time periods, the powers for thecorrelation products at each tap for each of the remaining SVs 2 through11 are tested. For each SV, the earliest peak is selected as the directpath signal and the code phase for that SV is adjusted according. Theprocess may then be repeated.

[0346] As noted above with regard to FIG. 22, it may be advantageous totrack the multipath reflection signal in order to model the direct ormultipath signal to either minimize interference when the differentialpath delay is on the order of about 1.5 ½ chips or less or to continueto track a temporarily obscured direct path signal. These tasks may alsobe conveniently accomplished in CodePhase Verification SatTRAK channel300, for one SV per ms.

[0347] Referring now to FIG. 24, a block diagram of an alternateembodiment of the GPS car navigation system depicted in FIG. 2 used forimproved navigation during reduced satellite visibility is shown.

[0348] As noted above, GPS receivers are preferably operated with aminimum of 3 or 4 satellites distributed across the visible sky in orderto determine, or at least estimate, the four necessary unknownstypically including x_(user), y_(user) and z_(user) which provide threeorthogonal coordinates to locate the user as well as t_(user) whichprovides the required satellite time. In the embodiment shown in FIG.24, the four unknowns are specified as a_(user), c_(user), z_(user) andt_(user). The three orthogonal user coordinates are a_(user), whichlocates the user in terms of the distance along the currently identifiedheading or track, c_(user), which locates the user in terms of the crosstrack distance of the user from the currently identified heading ortrack, and z_(user) which represents the altitude of the user,conventionally in terms of the vertical distance above or below sealevel.

[0349] As depicted in FIG. 24, GPS car navigation system 400 processessatellite signals in ASIC 102 received in satellite receiver section 36from GPS antenna 28 to track all currently visible satellites insatellite specific tracking channels such as SatTRAK channels 38, 40, 42and 44, the outputs of which are applied to SatProcessor 46. Anavigation solution may then be produced in NavProcessor 402 whichcreates position model 403 of the four unknowns, such as internal clockmodel 54, altitude estimate 56, c_(est) 404 and a_(est) 406. The use ofc_(est) 404 and a_(est) 406 has been found to be advantageous even whenmore than one satellite is in view.

[0350] GPS car system module 26 is also provided with data related tothe then current—and expected future—physical environment of car 10from, for example, Route Data Base 52 which includes information aboutthe routing in the form of roadways and turns between roadways, as wellas actual or estimated roadway width. The estimated roadway width maysimply be a default value representing a common roadway width such asthe width of a two lane city street or highway if no other informationis then available.

[0351] Solutions for all 4 unknowns of position information may bederived when signals from 4 satellites in a proper geometricconfiguration are view. When signals from only 3 visible satellites areavailable for suitable processing, the z_(user) solution may be replacedby z_(user) 56 solution derived from an elevation estimate or default inwhat is conventionally called the altitude hold mode of processing.Changes in elevation occur relatively slowly in terrestrial navigationso that the degradation of position accuracy during altitude hold isoften acceptable.

[0352] When signals from only 2 suitable satellites are available, thec_(user) position information is replaced by c_(est) which may bederived from Route Data Base 52 or otherwise estimated in what has beenreferred to herein as the cross track hold mode of processing. Themaximum physical cross track distance, that is, the width of theroadway, is typically smaller than the position accuracy currentlyavailable with the GPS system and therefore any position informationdegradation resulting from cross track hold is usually acceptable aslong as the vehicle is progressing along a known track or direction.

[0353] Referring now to FIG. 25A, if route data from Route Data Base 52or another source is being used, predicted track 408 may representactual roadway 409, which is shown to extend for example in a firstdirection from point 410 to turn 412 after which actual roadway 409, andtherefore predicted track 408, turns about 30° toward the right. Asimilar situation occurs when an intentional turn is made, for example,when exiting a highway.

[0354] Referring now to FIG. 25B, if detailed roadway or track data isnot being used, the default estimate for predicted track 408 may simplybe the current heading. That is, as long as the vehicle including GPScar navigation system 400 is proceeding along actual roadway 409 frompoint 410 to turn 412, predicted track 408 follows actual roadway 409and no cross track error occurs. After turn 412, however, if predictedtrack 408 is merely estimated from the heading of the vehicle betweenpoint 410 and turn 412, predicted track 408 would continue along thesame original direction while actual roadway 409 turns toward the right.

[0355] In the situation shown in FIG. 25A, cross track hold maysuccessfully be used, without substantial accuracy degradation, bothbefore and after turn 412. However, in the situation depicted in FIG.25B after turn 412, the actual path of actual roadway 409 is not knownand is merely estimated by the previous vehicle heading so thatsubstantial cross track error may occur. In particular, the cross trackerror at turn 412 is zero but increases to cross track error distance414 when the vehicle reaches point 416 along actual roadway 409.Thereafter, when GPS car navigation system 400 reaches point 420 onactual roadway 409, the cross track error reaches cross track errordistance 418.

[0356] One way to effectively continue to use cross track hold in thesituation depicted in FIG. 25B, in which predicted track 408 is merelyestimated from the current heading, is to utilize turn detector 66 shownin FIG. 2, to detect the occurrence of a turn. The turn detectionindication may be used in conjunction with turn comparator 68 and RouteData Base 52 to correct or update predicted track 408 to correspond tothe actual path of actual roadway 409 or merely to require are-estimation of predicted track 408 by using the then current headingafter the turn. Similarly, a less desirable but simpler approach is touse timer 422 to cause predicted track 408 to be periodicallyre-estimated from the then current heading.

[0357] A better alternative is shown in FIG. 24 in which steady statedetector 424 may be used as an alternative to, or in addition to, turndetector 66. Steady state detector 424 may be simply a type of turndetector, such as a magnetic compass, or a more sophisticated devicesuch as an inertial navigation system. In any event, steady statedetector 424 serves to indicate that the vehicle is no longermaintaining steady state conditions, that is, no longer following astraight line or continuing along a smooth curve. The output of steadystate detector 424 is applied to NavProcessor 402 to indicate thatpredicted track 408 is no longer accurate because the vehicle haschanged direction.

[0358] In accordance with a preferred embodiment of the presentinvention, upon an indication from steady state detector 424 that achange from steady state conditions has occurred during cross trackhold, if more than one satellite signal is in view NavProcessor 402automatically switches from cross track hold to clock hold. In otherwords, upon an indication that a cross track error may exists, thecurrent clock estimate is maintained during a brief period in which thecross track estimate is updated.

[0359] The length of time during which clock hold may be maintainedwithout substantial degradation of position accuracy is a function ofthe accuracy, or drift, of the real time clock used in GPS carnavigation system 400. This accuracy may be predicted and is probablygood enough to use for periods at least on the order of about 30 to 60seconds. A first step in increasing the length of time during whichclock hold may be maintained without unacceptable position degradationis to maintain a model of the error of the real time clock.

[0360] Real time clock error model 426 serves to monitor the drift ofreal time clock 428 shown in FIG. 12. The clock drift, compared to theactual time as determined from the satellites, is determined as afunction of time so that further drift may be predicted. Some of thefactors which contribute to this drift are linear and predictable sothat some portions of the clock drift may be accurately modeled and theclock adjusted to compensate for that drift. Other factors whichcontribute to the clock drift are unpredictable. That is, even aftercorrecting the clock for errors detectable in comparison to satellitetime, the accuracy of real time clock 428 may only be improved to acertain level. The inaccuracy of the clock model, resulting from therandom and unpredictable factors, determines the length of time thatclock hold may be used without an unacceptable level of accuracydegradation.

[0361] Real time clock error model 426 may then be used to set thelength of the period during which clock hold may be used so that crosstrack hold can be released and cross track error minimized oreliminated. In operation, real time clock error model 426 monitors realtime clock 428 to determine the level of unpredictable, that isuncorrectable, clock drift while SatProcessor 46 corrects real timeclock 428 in response to signals from the GPS satellites. Thereafter,when there are only two visible satellites, the cross track hold mode isinstituted and steady state detector 424 monitors the progress of thevehicle to determine when a turn or other even changes is indicated by achange from steady state conditions.

[0362] Thereafter cross track hold is released and clock hold isinstituted to correct any cross track error. Thereafter, in accordancewith timer 422, clock hold is released and cross track hold isre-instituted. Cross track hold is then maintained while only twosatellites are visible with usable signals until the next time thatsteady state detector 424 indicates the possible existence of asubstantial cross track error. Alternatively, during long periods ofcross track hold, clock hold may be used periodically in accordance withtimer 422 to permit reduction of any accumulated cross track error. Inthis manner, the best possible navigation solution may be obtained fromsignals from two satellites by cycling between two hold states such ascross track and clock hold. The time in each hold state is limited inaccordance with indications or predictions of unacceptable deviationfrom the held or modeled value.

[0363] In most typical operating conditions in terrestrial navigation,the width of the roadway, waterway or airway—and the likelihood ofsteady state motion—both contribute to a preference for cross track holdover clock hold, especially in light of the drift errors in currentlyavailable real time clocks used for GPS receivers. The periodic cyclingbetween cross track and clock hold provides the most accurate anddependable navigation solutions for two visible satellites. If thesecond satellite also becomes unavailable so that signals from only asingle satellite remain useful, clock hold may be used in conjunctionwith cross track hold for single satellite navigation.

[0364] Referring now again to FIG. 12, power consumption is a criticalissue for many terrestrial spread spectrum receivers, including GPSreceivers, particularly for battery powered receivers. Many batterypowered receivers will be used in environments in which the batterydrain due to the receiver is nominal, and/or may be convenientlyreplenished, such as in a vehicle. Many other battery powered receivers,referred to herein as hand held units for convenience, must rely solelyon their batteries for power and be re-powered on a regular basis byrecharging the batteries or replacing them. In addition, the nature ofthe use of devices of this type makes a reasonably long battery lifeimportant.

[0365] Conventional devices may be powered down, that is turned off, sothat battery drain in minimal. However, the time required to power upand provide a reasonable navigation solution is often unsatisfactory.For example, when a conventional receiver is powered up after just beingpowered down it may be able to easily reacquire the satellites it waspreviously tracking but such reacquisition takes at least 2 to 3seconds. This time lag is too long to permit powering down betweenposition fixed in most applications. In a vehicle, a user would prefernot to wait several seconds after requesting a position fix for thereceiver to provide an updated navigation solution.

[0366] Further, if a receiver has been powered down for more than a fewseconds, the accumulated time errors will often result in the need for asearch in order to lock onto the satellite signals unless a high quality(and therefore expensive) real time clock, or other source of accuratetime information, is provided. A satellite signal search may take 15minutes if the receiver has not been powered up for awhile.

[0367] In accordance with the present invention, however, energy savingtechniques have been employed to permit battery operated, hand-held orsimilar receivers to be operated with minimal battery energyrequirements and to provide instantaneous, or at least perceptiblyinstantaneous, position fixes and navigation solutions when the unit ispowered up or when a position fix is requested. By the terminstantaneous, or perceptibly instantaneous, what is meant is arelatively short delay time on the order of one quarter to one half of asecond between the time that the unit is activated and the time the userreceives the position fix so that the user is not made aware of aresponse time delay.

[0368] There are two primary battery saving modes of operation, the pushto fix or sleep mode and the reduced power continuous navigation mode.

[0369] In the push to fix mode, when a navigation solution or positionfix is required, the user pushes a button on the unit and a position fixis displayed in a sufficiently short time that the user is not botheredby the time required to reacquire and provide the navigation solution.The push to fix mode may therefore provide a perceptually instantaneousnavigation solution when the push to fix control is activated. Duringthe remainder of the time, the receiver operates in a sleep mode inwhich minimum power is used. During the sleep mode, however, theeffective clock error has been modelled so that clock accuracymaintenance is performed automatically to keep the unpredictable clockerror below a predetermined magnitude so that the receiver may bere-energized to perform clock maintenance with a minimum of wastedenergy.

[0370] In the reduced power continuous operation mode, a perceptuallyconstantly updated navigation solution is provided. The majority of theenergy using portions of the receiver system are not powered for asubstantial fraction of each second. For example, as will be describedbelow, the present invention may be operated in a mode in which the fulloperation of the receiver is used for only 200 milliseconds per second,saving about 80% of the battery energy that would otherwise be usedduring the remaining 800 milliseconds of each second.

[0371] As shown in FIG. 12, GPS receiver system 200 may be dividing upinto several major subsystems including, for example, RF processingsubsystem 214 including the antenna input and RF signal preconditioningfiltering and pre-amp stages, an IF filter as well as the crystaloscillator for an accurate clock or counter, together with a signalprocessing stage based on ASIC GSP1 202 and digital section 430 whichincludes the digital computer facilities such as SRAM 206, ROM 208 andCPU 101, interconnected by data and address busses 210 and 212, as wellas real time clock 428.

[0372] In accordance with the present invention, RF processing subsystem214 and ASIC GSP1 202 are powered down into a so-called sleep mode for asubstantial portion of the time while digital section 430 remainspowered to maintain the operation of real time clock 428. In manysystems, it may be desirable to maintain crystal 224 in a ready tooperate condition during the “off” or sleep state, by for example,keeping it warm in a temperature controlled environment.

[0373] In the push to fix mode, the duration of the permissible powerdown or “off” time during the sleep mode, that is the time intervalbetween clock accuracy maintenance operations, is dependent upon thelevel of unpredictable, or un-modelable, drift of real time clock 428.In a typical application, the crystal used in real time clock 428 willbe a relatively inexpensive crystal on the order of the quality ofcrystals used in a personal computer. Such crystals may provide a timeresolution of 30 micro seconds or better and be modelable to hold timeto within one half millisecond in perhaps 50 seconds.

[0374] In order to maximize the sleep or “off” time in a push-to-fixmode of operation, the drift of real time clock 428 is measured andmodeled against a more accurate time base as provided by crystal 224 inRF processing subsystem 214 and/or from the signals from the satellites.It may be convenient to model the clock error of real time clock 428 sothat the elapsed time during which the unpredictable changes in realtime clock 428 occur can be determined. This modeling may beaccomplished a priori, by estimating, or in accordance with a preferredembodiment of the present invention, be continuously determined duringoperation so that the full accuracy of real time clock 428 is used.

[0375] If it is determined that real time clock 428 drifts in apredictable fashion, real time clock 428 may be updated by digitalsection 430 on a regular basis to compensate for the drift. The periodfor updating may then be lengthened so that the unpredictable (andtherefore un-modelable) error never exceeds a predetermined amount, forexample, one half millisecond. That is, if the maximum permissible erroris selected to be one half millisecond, then the determined period forthe maximum off time depends on how long it takes the clock to drift byone half millisecond in an unpredictable way.

[0376] In the sleep mode, at the end of the off time, CPU 101 causes thepower to be reapplied to RF processing subsystem 214 and to ASIC GSP1202. RF processing subsystem 214 attempts to continue tracking and/orreacquire a selected satellite. The selected satellite may convenientlybe the satellite with the strongest, or otherwise most usable, signal asdetermined from the previous “on” time. The “off” time has been selectedso that the signals from the selected satellite are within a known timeoffset and are therefore easily reacquired.

[0377] In accordance with a preferred embodiment of the presentinvention, approximately 240 correlations may be performed, accumulatedand completed during each millisecond, that is, during each repetitionof the C/A code. These 240 correlations each represent one half chip oftime. If the clock error represents less than about plus or minus 60chips, which may be on the order of plus or minus 10 miles inpseudorange, tracking occurs during the first millisecond. That is,usable data is immediately collected. In particular, if the clock erroris within plus or minus 120 half chips, one of the 240 correlations willin fact be the prompt correlation. At the end of the first millisecond,the data from the prompt correlation may be used in the usual way totrack the selected satellite and thereby determine the clock error.Therefore, at the end of the first millisecond of clock maintenanceoperation, the clock error may be corrected and the pseudorange to the“best” or selected satellite redetermined.

[0378] During the next and subsequent 1 ms periods, normal tracking ofall, or at least most, of the other satellites remaining visible may beresumed because the error in real time clock 428 has been corrected.

[0379] In this manner, clock maintenance is automatically performed atleast as often as required by the actual drift of the clock so that thelength of operating time required to resume tracking may be controlled.The duration of the “off” time can be controlled in general as afunction of the quality of real time clock 428. For any particular levelof clock error, the amount of power required for resumption of trackingmay be controlled in part by the number of correlations used. As morecorrelations are used, more energy is consumed, but longer “off” timesmay be employed.

[0380] In the presently preferred embodiment it has been determined thata 50 second off time would be appropriate with a convenient qualitylevel of clock crystal for real time clock 428. The exact length of offtime may be determined by clock error modeling during action operationof the receiver, as noted above. At the end of the 50 second “off”period, GPS receiver system 200 is powered up and can immediately resumetracking at least the first satellite during the first millisecond andall available satellites thereafter. If GPS receiver system 200 waspowered up as a result of the need for clock accuracy maintenance, nofurther tracking is required and the “off” or battery energy save statemay be resumed as soon as the clock error is corrected by tracking thefirst satellite.

[0381] If satellite tracking of the selected satellite is not resumedduring the first millisecond for clock accuracy maintenance, the totaltime required to reacquire the best satellite will typically be lessthan 9 milliseconds because all 1023 possible delay theories can betested with about 9 passes of the 240 delays per pass.

[0382] If, in addition to clock error maintenance, a navigation solutionis required, normal operation of GPS receiver system 200 may becontinued for as long as required after a clock maintenance operation tocomplete the navigation solution.

[0383] In operation, after normal satellite tracking, push to fixoperation may be instituted and the receiver will enter the sleep modefor the period determined by the clock error model to permit the clockto remain accurate to within a fix amount, say half a millisecond. Atthe end of the sleep mode period so determined, clock maintenance occursin which the receiver wakes up long enough to correct real time clock428. Thereafter, the sleep mode is resumed.

[0384] Upon receipt of a push to fix request for a navigation solution,a clock maintenance operation is performed to correct real time clock428 and then normal tracking is resumed for all satellites beingtracked. The navigation solution may then be determined in the usualmanner and the sleep mode resumed.

[0385] In the reduced energy, continuous operation mode, the sleep modeis engaged on a periodic basis, such as for 800 milliseconds in eachsecond. The modeled clock drift is sufficiently small at the end of thesleep mode so that normal tracking may be automatically resumed. Duringthe next 200 milliseconds, satellite tracking is then resumed, clockcorrections are made, and the navigation solution determined.

[0386] During the next succeeding seconds, the 800 millisecond sleepmode continues to be alternated with a 200 millisecond tracking mode,thereby substantially reducing the energy requirements for apparentlynormal, continuous operations. During the 800 millisecond sleep period,digital section 430 or at least a substantial portion thereof remainsactive. Assuming for convenience that the energy used by the RF, signalprocessing and digital processing subsystems are approximately equal,the energy savings is therefore on the order of about two thirds of 80%of the full operation energy budget for an approximate savings of abouthalf while updating the position fix once per second.

[0387] In many hand held applications, continuous operation may requirea position fix at time intervals of substantially greater than onesecond, say for example 5 seconds. The operation of the RF and signalprocessing sections for only about 200 ms each 5 seconds provides atremendous increase in operating life for any particular set ofbatteries.

[0388] Referring now to FIG. 26, these modes of operation may becombined in low power consumption receiver 432 which operates in anenergy conserving continuous, as well as push to fix, modes. Operationsbegin as described above in full time acquisition and then trackingmodes, indicated as step 434. In the preferred embodiment, push to fixinquiry 436 is made. If push to fix operation is not required, thereceiver is operated in a sleep mode for a fixed period of time, such as800 ms, under the direction of step 438. Thereafter a fixed period oftracking, for example 200 ms, is accomplished under step 440. Operationcycles between steps 438 and 440 until push to fix operation isrequired.

[0389] When push to fix operation is begun, sleep mode 442 is entereduntil inquiry 444 determines that maximum allowable clock error hasoccurred. As noted above, the period of time in which this clock erroroccurs, or is modelled to occur, depends upon the maximum allowableerror which in turn depends upon the number of correlations availableper unit time as well as the length of time permitted for resumption, orreacquisition, of tracking. In the presently preferred embodiment using240 correlations per millisecond and requiring clock drift to be limitedto plus or minus one half millisecond, a sleep period of up to 50seconds may be allowed.

[0390] When the sleep period based on maximum allowable clock error isover, the resumption of tracking in step 446 is begun for the selectedsatellite using the maximum number of correlators available. When a lock448 on the selected satellite's signal has been achieved, the real timeclock and/or the corrected clock model is updated under step 450. If afix (inquiry 452) is required, tracking is then resumed under step 454for all satellites using the correlations in a time division multiplexedfashion as described above. If a fix is not presently required, andinquiry 436 indicates that the push to fix mode is to continue, thereceiver resumes the sleep mode under step 442 until maximum clock errorreoccurs or is predicted to reoccur, for example, at the expiration ofan additional 50 seconds.

[0391] Having now described the invention in accordance with therequirements of the patent statutes, those skilled in this art willunderstand how to make changes and modifications in the presentinvention to meet their specific requirements or conditions. Suchchanges and modifications may be made without departing from the scopeand spirit of the invention as set forth in the following claims.

What is claimed is:
 1. A system for operating a GPS C/A code receivercomprising: means for forming x multibit digital segment values per C/Acode period, each multibit digital segment value representing asequential code segment of a received composite of satellite signals;and means for correlating each digital segment value with n satellitespecific sets of m differently time delayed segments of C/A codemodulation to form at least n times m time delay specific correlationvalues.
 2. The system of claim 1 wherein m is greater than the number ofbits in each multibit digital segment value.
 3. The system of claim 1wherein each bit of the multibit digital segment value represents aninteger fraction of a C/A code chip.
 4. The system of claim 1 whereinthe correlating means comprises means for tracking different satellitesby selecting the satellite specific sets to represent n differentsatellites.
 5. The system of claim 1 wherein the correlating meanscomprises means for tracking different satellites by selecting more thanone of the satellite specific sets to represent the same satellite. 6.The system of claim 5 wherein the time delay segments of the satellitespecific sets representing the same satellite are sequential.
 7. Thesystem of claim 5 wherein the time delay segments of the satellitespecific sets representing the same satellite are interlaced.
 8. Thesystem of claim 5 wherein the differential time delay of the segments ofthe satellite specific sets representing the same satellite representless than a maximum expected time delay error for a temporarily obscuredsatellite in an urban environment.
 9. The system of claim 1 wherein thecorrelating means comprises means for tracking different satellites byselecting the satellite specific sets to represent an integer fractionof n different satellites.
 10. The system of claim 1 wherein thecorrelating means comprises means for tracking n/2 satellites byselecting the satellite specific sets to represent n/2 differentsatellites.
 11. The system of claim 1 wherein the correlating means isadapted to: acquire a satellite by selecting the satellite specific setsto represent the same satellite; and repeat the correlation for the samesatellite with a different set of time delayed segments.
 12. The systemof claim 1 wherein x, m and n are each prime factors of the number ofcode chips per C/A code period.
 13. The system of claim 1 furthercomprising means for forming the series of m/2 differently time delayedsegments by sequentially changing one bit of a previous segment to formthe next segment.
 14. The system of claim 1 wherein the forming meanscomprises: means for sampling the received composite at a first bitrate; and means for digitally filtering the first composite to form thedigital segment values at a bit rate substantially lower than the firstbit rate.
 15. The system of claim 1 further comprising means forinterrupting the correlating means for a series of code periods toreduce receiver energy consumption.
 16. A system for tracking themovement of an object, said system comprising: a GPS C/A code receiverassociated with the object and adapted to: form x multibit digitalsegment values per C/A code period, each multibit digital segment valuerepresenting a sequential code segment of a received composite ofsatellite signals; and correlate each digital segment value with nsatellite specific sets of m differently time delayed segments of C/Acode modulation to form at least n times m time delay specificcorrelation values; and means for determining navigation informationfrom the correlation values.
 17. The system of claim 16 wherein thedetermining means comprises means for comparing the magnitudes of twoequal correlation values to the magnitude of a correlation valuetherebetween to select a prompt delay.
 18. The system of claim 17wherein the comparing means comprises means for selecting the promptdelay to be more than half way between the time delays represented bythe equal correlation values when the magnitude of the equal correlationproducts is equal to less than half of a peak correlation valuetherebetween.
 19. The system of claim 17 wherein the comparing meanscomprises means for selecting the prompt delay to be less than half waybetween the time delays represented by the equal correlation values whenthe magnitude of the equal correlation products is equal to more thanhalf of a peak correlation value therebetween.
 20. A method of operatinga GPS C/A code receiver comprising: forming x multibit digital segmentvalues per C/A code period, each multibit digital segment valuerepresenting a sequential code segment of a received composite ofsatellite signals; correlating each digital segment value with nsatellite specific sets of m differently time delayed segments of C/Acode modulation to form at least n times m time delay specificcorrelation values; and accumulating the correlation values in a n timem matrix.